Affiliation:
1. College of Electrical Engineering, Anhui Polytechnic University, Wuhu, China
2. Key Laboratory of Advanced Perception and Intelligent Control of High-End Equipment, Ministry of Education, Wuhu, China
Abstract
This study considers the problems of manipulators with high coupling, parameter uncertainties, and external disturbances. A six-axis serial manipulator control system based on active disturbance rejection control strategy is proposed without the requirement of the exact dynamic model. First, the operating circuit of the manipulator joint motor is analyzed, and the mathematical model of the direct-current torque motor is established. Second, the components of active disturbance rejection control are designed, and a new nonlinear function is selected to construct the extended state observer and nonlinear state error feedback control law. Then, Kalman filter is introduced into an extended state observer to estimate the disturbance efficiently. Finally, the proportion–integration–differentiation control, traditional active disturbance rejection control, and improved active disturbance rejection control are simulated and compared under the same input signal. The results show that the proposed control strategy has good dynamic performance and uncertain disturbance robustness, which proves the effectiveness of the proposed method.
Funder
Pre research project of NSFC
Subject
Artificial Intelligence,Computer Science Applications,Software
Cited by
9 articles.
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