Finite-Time Variable-Gain ADRC for Master-Slave Teleoperated Parallel Manipulators

In this article, a novel finite-time variable-gain active disturbance rejection control (FTVGADRC) method is proposed for master-slave teleoperated parallel manipulators with disturbances. The FTVGADRC incorporates error-based variable gains to improve the control performances, which includes finite-time variable-gain tracking differentiator, finite-time variable-gain extended state observer, and finite-time variable-gain controller. It can be shown that the states of error systems are uniformly ultimately bounded, and both the steady-state performance and settling time are calculated. Moreover, the feasible solutions of the sufficient conditions in the stability analysis are discussed and provided explicitly. Finally, experimental results are presented to verify the efficiency of the proposed method.