Trajectory tracking adaptive disturbance rejection controller for a tomographic robotic system

摘要

This study presents a solution to design an automatic controller that forces the trajectory tracking of a tomographic robotic system. The methodology to design the controller was the Active Disturbance Rejection Control (ADRC). A pseudo-adaptive version of ADRC enforces a smooth trajectory tracking with a small ultimate bound for the tracking error. The control solution used the estimation of velocity that was estimated by an extended adaptive state observer included in the ADRC solution. A set of numerical evaluations over a tomographic robotic system proved the efficiency of the proposal in terms of a performance index.