Composite trajectory tracking control for robot manipulator with active disturbance rejection

Danni Shi; Jinhui Zhang; Zhongqi Sun; Ganghui Shen; Yuanqing Xia

doi:10.1016/j.conengprac.2020.104670

Composite trajectory tracking control for robot manipulator with active disturbance rejection

Danni Shi
, Jinhui Zhang^*
, Zhongqi Sun
, Ganghui Shen
, Yuanqing Xia

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

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

67 Citations (Scopus)

Abstract

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.

Original language	English
Article number	104670
Journal	Control Engineering Practice
Volume	106
DOIs	https://doi.org/10.1016/j.conengprac.2020.104670
Publication status	Published - Jan 2021

Keywords

Active disturbance rejection control (ADRC)
Disturbance observer
Integral sliding mode control (ISMC)
Robot manipulator

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10.1016/j.conengprac.2020.104670

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abstract = "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.",

keywords = "Active disturbance rejection control (ADRC), Disturbance observer, Integral sliding mode control (ISMC), Robot manipulator",

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AU - Zhang, Jinhui

AU - Sun, Zhongqi

AU - Shen, Ganghui

AU - Xia, Yuanqing

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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

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Composite trajectory tracking control for robot manipulator with active disturbance rejection

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Keywords

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