earticle

영어

This paper is focused on a comparison between classic Feedback Linearization Control and a proposed Active Disturbance Rejection Control method. The proposed technique does not require a precise mathematical description of the system, since it is based on the online estimation and rejection of the unmodeled elements of the dynamics. Robustness of the closed-loop control system (against external perturbation and parameters uncertainty) is discussed here. A model of a SCARA robot manipulator is used in the conducted case study as an exemplary plant. Conclusions are supported with results obtained with numerical simulations.