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Model-Free Control or Active Disturbance Rejection Control? On different approaches for attenuating the perturbation

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2 Author(s)
Madonski, R. ; Fac. of Comput. Sci., Poznan Univ. of Technol., Poznan, Poland ; Herman, P.

This paper is focused on a comparison between Model-Free Control and Active Disturbance Rejection Control methods. These two techniques do not require a detailed mathematical description of the system, since they base on the on-line estimation and rejection of the unmodeled elements of the dynamics. Robustness of the closed-loop control system (against external perturbation) and its relation to energy consumption is discussed here. A model of a planar manipulator is used in the conducted case study as an exemplary plant. Conclusions are supported with results obtained with numerical simulations.

Published in:

Control & Automation (MED), 2012 20th Mediterranean Conference on

Date of Conference:

3-6 July 2012