A Distributed Strategy to Attitude Following of the Multi-DOF Parallel Electrical Manipulator Systems

Parallel electrical manipulator systems have become prevalent in attitude simulation in recent years to achieve a high precision attitude tracking. However, the attitude tracking performance is affected by internal uncertainty, external disturbances, and uncoordinated performance of the electric actuators. In this article, a coordinated attitude control strategy that combined the distributed active disturbance rejection control (ADRC) framework with a consensus algorithm is proposed for the parallel electrical manipulators. We indicate that the proposed coordinated attitude control strategy solves the uncoordinated problem of the electric actuators, and compensates the disturbances that include internal uncertainty and external disturbances. Meanwhile, a closed-loop control is achieved with a guaranteed stable tracking performance. The control strategy is applied to a 3-DOF parallel electrical manipulator system, and comparative experimental results indicate that the proposed coordinated ADRC consensus control strategy can achieve a better tracking performance than the strategy with only ADRC.