Title

On Model-free Accommodation of Actuator Nonlinearities

Document Type

Conference Proceeding

Publication Date

2012

Publication Title

World Congress on Intelligent Control and Automation

Abstract

A unique method of dealing with various nonlinearities, particularly those associated with actuators, is proposed, implemented and tested in simulation and hardware. It is shown that the nonlinearities, even without mathematical models, can be effectively dealt with based on the concept of active disturbance rejection, by which the effect of the nonlinearities is estimated and cancelled in real time. Simulation and hardware tests give promising results.

DOI

10.1109/WCICA.2012.6358365