TY - JOUR
T1 - Composite trajectory tracking control for robot manipulator with active disturbance rejection
AU - Shi, Danni
AU - Zhang, Jinhui
AU - Sun, Zhongqi
AU - Shen, Ganghui
AU - Xia, Yuanqing
N1 - Publisher Copyright:
© 2020 Elsevier Ltd
PY - 2021/1
Y1 - 2021/1
N2 - This paper investigates the trajectory tracking problem of robot manipulator with unknown uncertainties and external disturbances. To actively compensate the total disturbance including the external disturbance and the uncertainties, a novel disturbance observer is developed. Then, by incorporating the disturbance estimate in the novel chattering-free adaptive sliding mode controllers, two kinds of composite trajectory tracking control approaches are established to achieve high-precision tracking performance and strong robustness. Finally, the effectiveness of this proposed approach is validated by simulations on a 2-DOF robot manipulator.
AB - This paper investigates the trajectory tracking problem of robot manipulator with unknown uncertainties and external disturbances. To actively compensate the total disturbance including the external disturbance and the uncertainties, a novel disturbance observer is developed. Then, by incorporating the disturbance estimate in the novel chattering-free adaptive sliding mode controllers, two kinds of composite trajectory tracking control approaches are established to achieve high-precision tracking performance and strong robustness. Finally, the effectiveness of this proposed approach is validated by simulations on a 2-DOF robot manipulator.
KW - Active disturbance rejection control (ADRC)
KW - Disturbance observer
KW - Integral sliding mode control (ISMC)
KW - Robot manipulator
UR - http://www.scopus.com/inward/record.url?scp=85095442500&partnerID=8YFLogxK
U2 - 10.1016/j.conengprac.2020.104670
DO - 10.1016/j.conengprac.2020.104670
M3 - Article
AN - SCOPUS:85095442500
SN - 0967-0661
VL - 106
JO - Control Engineering Practice
JF - Control Engineering Practice
M1 - 104670
ER -