References tracking and perturbations reconstruction in a Cartesian robot

An exosystem needs to be nonlinear when it generates the perturbations to be reconstructed; however, an exosystem does not need to be nonlinear when it generates the references to be tracked. Resulting that the tracking of the references generated by an exosystem is an easier task. Hence, some studies on the references tracking should be made. Furthermore, to solve the references tracking, the perturbations are needed. In this research, the references tracking and the perturbations reconstruction in a Cartesian robot are discussed. For the perturbations reconstruction, an estimator is defined to force the reconstructed perturbations to track the perturbations of a Cartesian robot model. For the references tracking, a controller is defined to force a Cartesian robot model to track an exosystem. A theorem is addressed to prove the perturbations reconstruction. A theorem is addressed to prove the references tracking. A simulation in a Cartesian robot is used to confirm the validity and effectiveness of our controller with estimator in comparison with a feedback controller.