Tracking Control of Single-Axis Feed Drives Based on ADRC and Feedback Linearisation

Abstract

The accuracy of manufacturing highly characterises the performance of industrial motion control. However, detrimental effects such as nonlinear coupling, model uncertainty and unknown external disturbances severely affect trajectory tracking performance. In this paper, we proposed an ADRC and feedback linearisation-based control algorithm for the high-precision trajectory tracking of feed drives. The controller was rigorously designed to ensure the convergence of observer states and tracking error. The applicability of the proposed approach was successfully demonstrated via high-fidelity simulation, and the numerical results based on different tracking methods were compared.