TY - JOUR
T1 - Trajectory Tracking Control for Delta Parallel Manipulators
T2 - A Variable Gain ADRC Approach
AU - Gu, Shaomeng
AU - Zhang, Jinhui
AU - Zou, Suli
AU - Zhao, Kai
AU - Ma, Zhongjing
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2022/7/1
Y1 - 2022/7/1
N2 - In this letter, a novel variable gain active disturbance rejection control (VGADRC) approach is developed for solving the trajectory tracking problem of delta parallel manipulators with disturbances. The proposed VGADRC, including variable gain tracking differentiator (VGTD), variable gain extended state observer (VGESO), and variable gain controller (VGC), incorporates the error-driven variable gains to achieve desired performance specifications, and the ultimate boundedness can be guaranteed. Finally, simulations and experiments are conducted to verify effectiveness and advantages of the proposed method.
AB - In this letter, a novel variable gain active disturbance rejection control (VGADRC) approach is developed for solving the trajectory tracking problem of delta parallel manipulators with disturbances. The proposed VGADRC, including variable gain tracking differentiator (VGTD), variable gain extended state observer (VGESO), and variable gain controller (VGC), incorporates the error-driven variable gains to achieve desired performance specifications, and the ultimate boundedness can be guaranteed. Finally, simulations and experiments are conducted to verify effectiveness and advantages of the proposed method.
KW - Delta parallel manipulator
KW - Trajectory tracking
KW - Variable gain active disturbance rejection control (VGADRC)
UR - http://www.scopus.com/inward/record.url?scp=85133725583&partnerID=8YFLogxK
U2 - 10.1109/LRA.2022.3184766
DO - 10.1109/LRA.2022.3184766
M3 - Article
AN - SCOPUS:85133725583
SN - 2377-3766
VL - 7
SP - 7747
EP - 7754
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 3
ER -