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On the tracking of fast trajectories of a 3DOF torsional plant: A flatness based ADRC approach
Author(s) -
RamírezNeria Mario,
Gao Zhiqiang,
SiraRamirez Hebertt,
GarridoMoctezuma Ruben,
LuvianoJuarez Alberto
Publication year - 2021
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.2300
Subject(s) - flatness (cosmology) , control theory (sociology) , vibration , trajectory , tracking (education) , rest (music) , control engineering , controller (irrigation) , differential (mechanical device) , engineering , computer science , physics , control (management) , acoustics , artificial intelligence , psychology , pedagogy , agronomy , cosmology , biology , aerospace engineering , quantum mechanics , astronomy
In this article, a highly oscillatory 3 degrees of freedom (DOF) torsional plant is used to demonstrate the effectiveness of the combined differential flatness property and active disturbance rejection control (ADRC) methodology in the output tracking of fast reference trajectory and vibration suppression problems. The controller design is synthesized in the absence of detailed knowledge of the system model, which means that the resonant modes are essentially unknown to the designer. Experimental results confirm that the excellent rest‐to‐rest trajectory tracking performance is attained while permanently attenuating remaining vibrations in all the three disks.