Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
7110229 | Control Engineering Practice | 2018 | 8 Pages |
Abstract
This article deals with the control of a class of robotic systems with constant input time delay through the Active Disturbance Rejection paradigm, by means of Generalized Proportional Integral observers. The system is represented as a linear perturbed system, whose lumped disturbance input is estimated and then compensated by an Extended State Observer-Based Control, which is implemented on a predictor scheme for the time delay compensation. A complete Lyapunov Krasovskii functional was used to perform the stability analysis, leading to an ultimate bound trajectory tracking error. The proposal is tested and validated on a two degrees of freedom robotic manipulator.
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Authors
L.A. Castañeda, A. Luviano-Juárez, G. Ochoa-Ortega, I. Chairez,