Improved active disturbance rejection control-based research on trajectory tracking for multi-degree-of-freedom manipulators

Duanyuan Bai; Yingjie Shi; Tingyi Wu; Yongheng Zhang; Qiyue Yuan; Ruize Li

doi:10.1117/12.3055347

12 December 2024 Improved active disturbance rejection control-based research on trajectory tracking for multi-degree-of-freedom manipulators

Duanyuan Bai, Yingjie Shi, Tingyi Wu, Yongheng Zhang, Qiyue Yuan, Ruize Li

Author Affiliations +

Proceedings Volume 13439, Fourth International Conference on Testing Technology and Automation Engineering (TTAE 2024); 134390J (2024) https://doi.org/10.1117/12.3055347
Event: Fourth International Conference on Testing Technology and Automation Engineering (TTAE 2024), 2024, Xiamen, China

Abstract

To improve the trajectory tracking accuracy and disturbance rejection capabilities of multi-degree-of-freedom robotic arms, this paper proposes an enhanced Active Disturbance Rejection Control (ADRC) strategy. This strategy involves designing a modified Extended State Observer (ESO) based on nonlinear functions to monitor internal disturbances and the extended state of the control system, which encompasses nonlinear factors, internal model uncertainties, and external disturbances. A Fuzzy proportional-derivative(PD) control controller is employed to mitigate residual errors. Simulation and experimental results demonstrate that the improved ADRC-based trajectory tracking system significantly outperforms traditional control strategies in terms of tracking accuracy and disturbance rejection.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Duanyuan Bai, Yingjie Shi, Tingyi Wu, Yongheng Zhang, Qiyue Yuan, and Ruize Li "Improved active disturbance rejection control-based research on trajectory tracking for multi-degree-of-freedom manipulators", Proc. SPIE 13439, Fourth International Conference on Testing Technology and Automation Engineering (TTAE 2024), 134390J (12 December 2024); https://doi.org/10.1117/12.3055347

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