Trajectory Tracking Control for Delta Parallel Manipulators: A Variable Gain ADRC Approach

Shaomeng Gu; Jinhui Zhang; Suli Zou; Kai Zhao; Zhongjing Ma

doi:10.1109/LRA.2022.3184766

Trajectory Tracking Control for Delta Parallel Manipulators: A Variable Gain ADRC Approach

Shaomeng Gu, Jinhui Zhang^*, Suli Zou, Kai Zhao, Zhongjing Ma

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

10 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	7747-7754
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	7
Issue number	3
DOIs	https://doi.org/10.1109/LRA.2022.3184766
Publication status	Published - 1 Jul 2022

Keywords

Delta parallel manipulator
Trajectory tracking
Variable gain active disturbance rejection control (VGADRC)

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10.1109/LRA.2022.3184766

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Gu, S., Zhang, J., Zou, S., Zhao, K., & Ma, Z. (2022). Trajectory Tracking Control for Delta Parallel Manipulators: A Variable Gain ADRC Approach. IEEE Robotics and Automation Letters, 7(3), 7747-7754. https://doi.org/10.1109/LRA.2022.3184766

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abstract = "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.",

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AU - Zhao, Kai

AU - Ma, Zhongjing

PY - 2022/7/1

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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.

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JO - IEEE Robotics and Automation Letters

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Trajectory Tracking Control for Delta Parallel Manipulators: A Variable Gain ADRC Approach

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