Active Disturbance Rejection Control for Trajectory Tracking of Manipulator Joint with Flexibility and Friction

Ming Chu; Gang Chen; Fei Jie Huang; Qing Xuan Jia

doi:10.4028/www.scientific.net/AMM.325-326.1229

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 325-326Active Disturbance Rejection Control for...

Active Disturbance Rejection Control for Trajectory Tracking of Manipulator Joint with Flexibility and Friction

Abstract:

For high-accuracy trajectory tracking of manipulator joint, the more realistic dynamic equations, considering reducer flexibility, nonlinear friction and external disturbance, are established and then decomposed into two subsystems in series. A double closed-loop controller, which is mainly used to compensate the flexibility, is designed by using active disturbance rejection control (ADRC) technology. The extended state observers are applied for real-time observation and compensation of the nonlinear terms. Simulation results indicate that the flexibility and friction are simultaneously overcomed, and the proposed controller can greatly improve the tracking accuracy.

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Periodical:

Applied Mechanics and Materials (Volumes 325-326)

Pages:

1229-1232

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.325-326.1229

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Online since:

June 2013

Authors:

Ming Chu, Gang Chen, Fei Jie Huang, Qing Xuan Jia

Keywords:

Active Disturbance Rejection Control (ADRC), Double-Closed Loop, Extended State Observer, Flexibility, Friction Compensation

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References

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