TY - JOUR
T1 - Variable gain ADRC for delta parallel manipulators with disturbances
AU - Gu, Shaomeng
AU - Zhang, Jinhui
N1 - Publisher Copyright:
© 2024 Elsevier Ltd
PY - 2024/4
Y1 - 2024/4
N2 - In this paper, a variable gain active disturbance rejection control (VGADRC) method is proposed for solving the trajectory tracking problem of delta parallel manipulators with disturbances. The VGADRC, including variable gain tracking differentiator (VGTD), variable gain extended state observer (VGESO), and variable gain controller (VGC), incorporates error-based variable gains to improve the control performances. Moreover, the stability analysis of VGADRC is performed, and the feasible solutions of matrix inequality are discussed. Finally, simulation results and experiment results show the effectiveness of the proposed method.
AB - In this paper, a variable gain active disturbance rejection control (VGADRC) method is proposed for solving the trajectory tracking problem of delta parallel manipulators with disturbances. The VGADRC, including variable gain tracking differentiator (VGTD), variable gain extended state observer (VGESO), and variable gain controller (VGC), incorporates error-based variable gains to improve the control performances. Moreover, the stability analysis of VGADRC is performed, and the feasible solutions of matrix inequality are discussed. Finally, simulation results and experiment results show the effectiveness of the proposed method.
KW - Active disturbance rejection control
KW - Delta parallel manipulators
KW - Trajectory tracking control
KW - Variable gains
UR - http://www.scopus.com/inward/record.url?scp=85184141809&partnerID=8YFLogxK
U2 - 10.1016/j.conengprac.2024.105877
DO - 10.1016/j.conengprac.2024.105877
M3 - Article
AN - SCOPUS:85184141809
SN - 0967-0661
VL - 145
JO - Control Engineering Practice
JF - Control Engineering Practice
M1 - 105877
ER -