High-precision Disturbance Rejection Tracking Control for Servo Motion Systems Using Fully Actuated System Approach

This paper investigates the problem of high-precision disturbance rejection tracking control for servo motion systems (SMS) with external disturbances and system uncertainties, where a control strategy combining the Fully Actuated System Approach (FASA), Generalised Extended State Observer (GESO), and Linear Quadratic Regulator (LQR) is proposed. First, a FASA model of the SMS is established with parameter matrices designed parametrically. Next, a GESO is developed to estimate system states and disturbances simultaneously. The LQR algorithm is then used to obtain disturbance compensation gains, enabling an FASA-based controller with estimation and compensation capabilities. Subsequently, Lyapunov stability theory is applied to verify closed-loop stability. Finally, simulation and experimental results show that the proposed method achieves higher precision than PD and uncompensated strategies under disturbances and uncertainties, can overcome limitations of traditional approaches, and improves control accuracy, stability, and reliability.