Robust Output Control of an Uncertain Underactuated 2DOF Mass-Spring-Damper System with Backlash Based on Active Disturbance Rejection Control Structure

C. Mario Mora, A. David Rosas, C. Raul Rascon and G. Ricardo Cuesta

Mathematical Problems in Engineering, 2018, vol. 2018, 1-10

Abstract:

We propose a strategy to solve the tracking and regulation problem for a 2DOF underactuated mass-spring-damper system with backlash on the underactuated joint, parametric uncertainties, and partial measurement of the state vector. The design of the controller is divided into two stages; in the first stage, it is assumed that the full state vector and all perturbations in the system are available. The model is divided into one actuated subsystem and one underactuated subsystem. The position of the actuated mass is defined as the control input of the underactuated subsystem, which is designed as an ideal controller that solves the tracking and regulation control problems for the underactuated mass. Finally, the control input of the actuated subsystem is designed to solve the tracking problem considering as a reference signal the control signal of the underactuated subsystem. The second stage solves the problem of the implementation of the previously designed ideal controller using the active disturbances rejection control structure (ADRC). Here state observers estimate the nonmeasured state variables and, at the same time, estimate perturbations and auxiliary signals for their compensation. The performance of the closed-loop system is illustrated by numerical simulations and experimental results.

Date: 2018
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2018/7534047.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2018/7534047.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:7534047

DOI: 10.1155/2018/7534047

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().