An Experimental Comparison of Model-Free Control Methods in a Nonlinear Manipulator

  • Mateusz Przybyla
  • Rafal Madonski
  • Marta Kordasz
  • Przemyslaw Herman
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7101)


This paper presents an experimental comparison of various model-independent control strategies implemented on a system with unbalanced rotating mass. Proportional-Integral-Derivative (PID), Robust Tracking with Control Vector Constraints (RTCVC), and Active Disturbance Rejection Control (ADRC) are considered in this research. Although these control algorithms deal with parametric uncertainties, external disturbances, and nonlinear behavior of the system with different approaches, their common feature is that they do not need an explicit mathematical model of the physical process. Obtained results show that the ADRC achieved highest control performance in terms of position trajectory tracking of the manipulator link and energy efficiency. This work also confirms that the ADRC is a promising model-free control approach, which brings together what is best in both classic and modern control theories.


Tracking Error External Disturbance Trajectory Tracking Tunnel Width Robust Tracking 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Mateusz Przybyla
    • 1
  • Rafal Madonski
    • 1
  • Marta Kordasz
    • 1
  • Przemyslaw Herman
    • 1
  1. 1.Chair of Control and Systems EngineeringPoznan University of TechnologyPoznanPoland

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