# Active Disturbance Rejection Based Robust Trajectory Tracking Controller Design in State Space

## TL;DR

This paper introduces a novel active disturbance rejection control method in state space that effectively compensates for both matched and mismatched disturbances, enhancing trajectory tracking robustness.

## Contribution

It presents a new robust controller design using differential flatness and disturbance observers, applicable to systems with complex disturbance profiles.

## Key findings

- Effective disturbance compensation demonstrated on a two-mass-spring-damper system.
- Two different robust control design techniques proposed and validated.
- Improved trajectory tracking robustness in the presence of disturbances.

## Abstract

This paper proposes a new Active Disturbance Rejection based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state and control input references are generated in terms of a fictitious design variable, namely differentially flat output, and the estimations of disturbances by using Differential Flatness and Disturbance Observer. Two different robust controller design techniques are proposed by using Brunovsky canonical form and polynomial matrix form approaches. The robust position control problem of a two mass-spring-damper system is studied to verify the proposed robust controllers.

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Source: https://tomesphere.com/paper/1903.05743