论文标题
机械系统的轨迹跟踪ADR控制器中的ESO体系结构：比较
ESO architectures in the trajectory tracking ADR controller for a mechanical system: a comparison
论文作者
论文摘要
主动干扰排斥（ADR）控制器的正确操作需要精确确定影响考虑的动态系统的所谓总干扰，通常由扩展状态观察者（ESO）估算。总干扰的观察质量对控制误差值有重大影响，从而为使用ESO的不同结构提供了控制系统性能的潜在空间。在本文中，我们提供了专为三种不同的扩展状态表示形式设计的Luenberger和Astolfi/Marconi（AM）观察者之间的定量比较，并在为机械系统设计的轨迹跟踪ADR控制器中使用。在简单的模拟情况下获得了包括的结果，然后在望远镜安装座的主轴上进行实验验证。
Proper operation of the Active Disturbance Rejection (ADR) controller requires a precise determination of the so-called total disturbance affecting the considered dynamical system, usually estimated by the Extended State Observer (ESO). The observation quality of total disturbance has a significant impact on the control error values, making room for a potential improvement of control system performance using different structures of ESO. In this article, we provide a quantitative comparison between the Luenberger and Astolfi/Marconi (AM) observers designed for three different extended state representations and utilized in the trajectory tracking ADR controller designed for a mechanical system. Included results were obtained in the simple simulation case, followed by the experimental validation on the main axis of a telescope mount.
