Title :
Active disturbance rejection control of servo platform using improved nonlinear control law
Author_Institution :
State Key Lab. of Intell. Control & Decision of Complex Syst., Beijing Inst. of Technol., Beijing, China
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;
Conference_Titel :
Intelligent Control and Information Processing (ICICIP), 2014 Fifth International Conference on
Conference_Location :
Dalian
Print_ISBN :
978-1-4799-3649-6
DOI :
10.1109/ICICIP.2014.7010348
