Multivariable Linear Position Control Based on Active Disturbance Rejection for Two Linear Slides Coupled to a Mass

• Published in: Machines (Basel) Vol. 11; no. 9; p. 889
• Main Authors: Gómez Becerra, Fabio Abel, Villanueva Tavira, Jonathan, Buenabad Arias, Héctor Miguel, Blanco Ortega, Andrés, Sarmiento Bustos, Estela, Calixto Rodríguez, Manuela, Valdez Martinez, Jorge Salvador
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01-09-2023
• Subjects: Active control; Actuators; Controllers; D C motors; disturbance rejection; Electric motors; linear multivariable systems; mass driven with two linear sliders; Mathematical models; Measuring instruments; mechatronic systems; Multivariable control; observers for linear systems; position control; Rejection; Robust control; State observers; Synchronism; Unmanned aerial vehicles; Variables; Velocity; Uruguay; Mexico
• ISSN: 2075-1702; 2075-1702
• DOI: 10.3390/machines11090889

Active Disturbance Rejection Control (ADRC) is a promising approach that has emerged to deal with uncertainties, which has received many practical applications in motion controls. This paper presents a multivariable controller for active disturbance rejection (ADR) based on an extended state linear observer for tracking the linear position trajectory of a mass moved by two linear slides, each one driven by a DC motor. The linear extended state observer is used to estimate the endogenous and exogenous disturbances of the system, which are assumed to be unknown, but bounded. Therefore, the feedback system prevents each actuator from operating at different forward speeds, and thus a synchronization between the two actuators is achieved by moving the common mass smoothly. The simulation and the experimental results show the effectiveness and robustness of the controller proposal when moving the mass with both actuators.