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Open AccessArticle

Analysis of an Impact of Inertia Parameter in Active Disturbance Rejection Control Structures

Institute of Automatic Control and Robotics, Poznan University of Technology, ul. Piotrowo 3a, 60-965 Poznan, Poland
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Electronics 2020, 9(11), 1801; https://doi.org/10.3390/electronics9111801
Received: 1 October 2020 / Revised: 17 October 2020 / Accepted: 23 October 2020 / Published: 29 October 2020
(This article belongs to the Section Systems & Control Engineering)
This paper is focused on a distributed control of fully actuated manipulators under operating conditions when dynamic couplings between their joints are insignificant. The main research aspect was to examine the influence of the inertia parameter on the tracking quality for control systems based on the active rejection paradigm. The theoretical description and preliminary hypothesis were supported by extensive simulation and experimental results. In particular, it is demonstrated that choosing the inertia parameter according to the real dynamics properties does not guarantee the best performance of the considered control structures. View Full-Text
Keywords: trajectory tracking control; perturbed systems; active disturbance rejection trajectory tracking control; perturbed systems; active disturbance rejection
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MDPI and ACS Style

Pazderski, D.; Patelski, R.; Krysiak, B.; Kozłowski, K. Analysis of an Impact of Inertia Parameter in Active Disturbance Rejection Control Structures. Electronics 2020, 9, 1801.

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