abstract

• In this work, a new control structure for fully actuated systems that solve the regulation and tracking of trajectories problem is proposed. This controller stands out for its ease of implementation and its ability to attenuate disturbances caused by parametric uncertainties and external forces. The control structure is based on the estimation of the delayed disturbances. Then, the current disturbance is canceled with the delayed disturbance, via the control input. The way in which the dynamics of the system is affected by the residual of these disturbances is analyzed. Also, the necessary conditions for establishing a reduced overshoot, settling time, and an attenuation factor of the disturbance are obtained. The performance of the proposed control structure is illustrated numerically by analyzing the behavior of different second-order single-input–single-output systems and also in the case of a RR-type robot. The control structure was also experimentally implemented in the case of a birotor type drone.

authors

• González Galván Emilio Jorge
• Méndez Barrios César Fernando Francisco

publication date

• 2023-01-01

published in

• Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering  Journal

keywords

• Robust control, Adaptive control, Euler-Lagrange systems, Disturbance rejection, Delay-based controller

Digital Object Identifier (DOI)

• 10.1177/09596518221143812

PubMed ID

start page

• 1066

end page

• 1077

volume

• 237

issue

• 6