Variable gain ADRC for delta parallel manipulators with disturbances

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.