Error Based Active Disturbance Rejection Control assisted by online optimization for systems with backlash

This paper presents the design of a positioning control system with backlash for the execution of repetitive trajectories under the error-based active disturbance rejection control methodology. Initially, incorrect controller parameterization can cause unwanted oscillations or instability in systems with backlash. Therefore, the proposed adjustment strategy is divided into two steps; First, the following error and control energy along a closed path are quantified by implementing a weighted cost function, and then the parameters are adjusted using a simulated annealing optimization, which allows adapting the controller to the characteristics of the control trajectory. Finally, experimental validation is carried out on a test bed to verify the effectiveness of the proposed approach.