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arXiv · 2001.06377

ESO architectures in the trajectory tracking ADR controller for a mechanical system: a comparison

Krzysztof Łakomy·Radosław Patelski·Dariusz Pazderski
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Abstract

Proper operation of the Active Disturbance Rejection (ADR) controller requires a precise determination of the so-called total disturbance affecting the considered dynamical system, usually estimated by the Extended State Observer (ESO). The observation quality of total disturbance has a significant impact on the control error values, making room for a potential improvement of control system performance using different structures of ESO. In this article, we provide a quantitative comparison between the Luenberger and Astolfi/Marconi (AM) observers designed for three different extended state representations and utilized in the trajectory tracking ADR controller designed for a mechanical system. Included results were obtained in the simple simulation case, followed by the experimental validation on the main axis of a telescope mount.

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Krzysztof Łakomy, Radosław Patelski, Dariusz Pazderski. 2020-01-20. ESO architectures in the trajectory tracking ADR controller for a mechanical system: a comparison. https://doi.org/10.1007/978-3-030-50936-1_110

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