Development of linear actuator for smart factory

Abstract

In this paper, a point-to-point positioning controller based on Active Disturbance Rejection Control (ADRC) is applied to a linear motion actuator using lead ball screw. In the design, the Extended State Observer (ESO) is adopted to the controller structure, and the ADRC is designed which consists of the ESO and the nonlinear PD controller to estimate and compensate the disturbances. The basic feature of the controller is that the control can apply to the plant without explicit mathematical modeling. The simulation results have been done to illustrate the stability and performance robustness of the control law.