Document Type

Article

Publication Date

7-1-2020

Publication Title

Control Engineering Practice

Abstract

In this work, a new robust control algorithm is introduced for uncertain systems with harmonic disturbances of unknown frequencies. The proposed solution works under the active disturbance rejection control (ADRC) framework and utilizes a specialized observer for sinusoidal uncertainties, aided with an on-line harmonic disturbance frequency estimator. The entire governing structure is derived in a convenient error-based domain, easily deployable in various industrial control software. The idea behind the introduced approach is general, but is conveyed here using solely a three degrees-of-freedom torsional system, which is considered a benchmark for vibration phenomenon in many mechanical systems. The efficacy of the proposed control scheme is validated with a set of experiments on a laboratory testbed and a theoretical analysis based on theory of singular perturbation.

DOI

10.1016/j.conengprac.2020.104413

Version

Postprint

Creative Commons License

Creative Commons Attribution-Noncommercial-No Derivative Works 4.0 License
This work is licensed under a Creative Commons Attribution-Noncommercial-No Derivative Works 4.0 License.

Volume

100

Available for download on Friday, July 01, 2022

Included in

Mathematics Commons

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