DocumentCode
1799227
Title
Active disturbance rejection control of servo platform using improved nonlinear control law
Author
Hang Zhang
Author_Institution
State Key Lab. of Intell. Control & Decision of Complex Syst., Beijing Inst. of Technol., Beijing, China
fYear
2014
fDate
18-20 Aug. 2014
Firstpage
244
Lastpage
249
Abstract
A new kind of nonlinear control law is proposed for the purpose of improving servo platform tracking performance under condition of rapid movement. On the basis of linear ADRC, an arctangent function is selected, and smoothly extended to an anti-S curve. The new method retains the feature of estimating and compensating the internal un-modeled dynamics and external disturbances. Simulation and comparison tests show that system using new control method has faster and more accurate tracking results.
Keywords
nonlinear control systems; servomechanisms; active disturbance rejection control; anti-S curve; arctangent function; linear ADRC; nonlinear control law; rapid movement; servo platform tracking performance; unmodeled dynamics; Hardware; Mathematical model; Observers; PD control; Servomotors; Tuning;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Information Processing (ICICIP), 2014 Fifth International Conference on
Conference_Location
Dalian
Print_ISBN
978-1-4799-3649-6
Type
conf
DOI
10.1109/ICICIP.2014.7010348
Filename
7010348
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