On model-free accommodation of actuator nonlinearities

A unique method of dealing with various nonlinearities, particularly those associated with actuators, is proposed, implemented and tested in simulation and hardware. It is shown that the nonlinearities, even without mathematical models, can be effectively dealt with based on the concept of active disturbance rejection, by which the effect of the nonlinearities is estimated and cancelled in real time. Simulation and hardware tests give promising results.