Analog Implementation of a Robust Control Strategy for Mechanical Systems

Álvarez, Joaquín; Almeida, David I. Rosas; Peña, Jonatan

doi:10.1109/tie.2009.2020706

Cited by 15 publications

(9 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A possible disadvantage of our proposal is the need to use a real time platform to implement the control system; this hardware could be expensive. This drawback can be solved if we use analog circuits to implement the control structure, as shown in .…”

Section: Discussionmentioning

confidence: 99%

Application of the active disturbance rejection control structure to improve the controller performance of uncertain pneumatic actuators

Almeida¹,

Álvarez

Cárdenas³

2019

Asian Journal of Control

View full text Add to dashboard Cite

In many robotic applications, pneumatic actuators are not adequate for tracking control tasks given the poor performance obtained with traditional control techniques like PID controllers. In this paper we show that the so-called Active Disturbance Rejection Control Structure (ADRCS), combined with a discontinuous observer and standard or robust algorithms in the controller block, provides a good solution to regulation and tracking control problems of pneumatic actuators. The discontinuous observer estimates the velocity, and whose discontinuous nature permits to estimate also the disturbances affecting the system, allowing to use a very simple model of the actuator and avoiding an off-line parameter identification. To analyze the observer ability to estimate the disturbances, we test three different algorithms in the controller block, the standard PD and two discontinuous controllers proposed elsewhere. The performance of the closed loop system is evaluated through experimental results using a performance index based on an  2 norm, for constants and sinusoidal references. Also, we compare the performance of the proposed algorithms with the controllers with those using the same control algorithm but not including the disturbance compensation, showing the important effect of the disturbance estimation included in the ADRCS on the overall controller performance.

show abstract

Section: Discussionmentioning

confidence: 99%

Application of the active disturbance rejection control structure to improve the controller performance of uncertain pneumatic actuators

Almeida¹,

Álvarez

Cárdenas³

2019

Asian Journal of Control

View full text Add to dashboard Cite

show abstract

“…An important property of these observers is its ability to estimate the disturbances acting on the plant, which can be conveniently incorporated in the control signal to increase the robustness of the controller and decrease the steady-state tracking error. The observer structure can even be built with conventional analog circuits, as it is described in (Alvarez et al, 2009). An adequate tuning of the observer parameters guarantees the convergence to the reference signal in an operation region large enough to cover practical situations.…”

Section: Discussionmentioning

confidence: 99%

“…The robust control structure is designed in a modular way and can be easily programed. Moreover, it can be implemented, if needed, with analog devices from a basic electronic circuit having the same structure for a wide class of mechanical systems, making its analog implementation also very easy (Alvarez et al, 2009). Some numerical and experimental results are included, describing the application of the control structure to several mechanical systems.…”

Section: Introductionmentioning

confidence: 99%

Robust Control of Mechanical Systems

Álvarez¹,

Almeida²

2011

Challenges and Paradigms in Applied Robust Control

View full text Add to dashboard Cite

“…This observer ensures exponential convergence of the state of the plant. In Alvarez et al (2009), a discontinuous observer was developed for estimating the state and disturbances in the plant and improving the robustness of the closed-loop system. In Veluvolu and Lee (2011), a sliding mode high-gain observer for a special class of nonlinear system with bounded state was reported.…”

Section: Introductionmentioning

confidence: 99%

Continuous higher order sliding mode observers for a class of uncertain nonlinear systems

Chawengkrittayanont

Pukdeboon

2018

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

Two nonlinear state observers are proposed to reconstruct the system states for a class of uncertain nonlinear systems. Both state observers are designed based on continuous higher order sliding mode and terminal sliding mode concepts. The proposed observers are chattering-free and constructed without any detailed model knowledge of the system. Desirable features of the proposed observers include that they are immune to noise and can be designed separately from a controller. Lyapunov stability theory is employed to prove the finite-time convergent and uniformly ultimately bounded observation. Simulation results are provided to demonstrate the effectiveness and improved performance of the developed observers.

show abstract

Analog Implementation of a Robust Control Strategy for Mechanical Systems

Cited by 15 publications

References 23 publications

Application of the active disturbance rejection control structure to improve the controller performance of uncertain pneumatic actuators

Application of the active disturbance rejection control structure to improve the controller performance of uncertain pneumatic actuators

Robust Control of Mechanical Systems

Continuous higher order sliding mode observers for a class of uncertain nonlinear systems

Contact Info

Product

Resources

About