Active Disturbance Rejection Control for Robot Manipulator

Autor:	Carlos E. Martínez-Ochoa, Ivón O. Benítez-González, Ariel O. Cepero-Díaz, José R. Nuñez-Alvarez, Carlos G. Miguélez-Machado, Yolanda E. Llosas-Albuerne
Rok vydání:	2022
Předmět:	Artificial Intelligence Control and Systems Engineering
Zdroj:	Journal of Robotics and Control (JRC). 3:622-632
ISSN:	2715-5072 2715-5056
Popis:	Active Disturbance Rejection Control (ADRC) is a control methodology used in chemical processes, aircraft, motors, and other systems. This paper compares the results of an ADRC controller to a Proportional Integral Derivative controller (PID), applied to two degrees of freedom robots. A Linear Extended State Observer (LESO) is used to reconstruct the state variables and unknown parameters needed to control the position of each link. The ADRC can achieve the tracking position and estimate the velocity of each link. The results of the simulation program are shown.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::1b9d06d5519740f9fc4dda594369ecb9 https://doi.org/10.18196/jrc.v3i5.14791 Zobrazit plný text záznamu