Autonomous Solar Tracking System Based on Finite-Time Robust Controller

This manuscript proposes the design of a robust controller for solar tracking systems. The mechanical part is modeled as a rigid body with two degrees of freedom of orientation, while the controller is computed in three step: i) an inverse dynamics controller that compensates modeled effects, leading to a simpler dynamical system; ii) a high-gain disturbance observer to get rid of uncertainties and disturbances, producing an ideal linear system; and iii) a nominal controller to enforce finite-time tracking. The dynamics of the actuators are accounted by considering electrical direct-current motors, providing a fast and accurate tracking performance. Representative simulations are provided to highlight the reliability of the proposed scheme.