Zhihuan Zhang and Chao Hu
Arrangement of transition process, tracking differentiator, activedisturbance rejection variable structure controller, robot joints
In view of the shortcomings of the traditional proportional, integral, and derivative controller, the active disturbance rejection control method is put forward, which extracts the differential and arranges the transition process reasonably through the “tracking differentia- tor” (TD) and the nonlinear state error feedback (NLSEF) con- troller. However, the current design of the NLSEF controller is only based on the experience to select the appropriate nonlinear function as there is no general theoretical guidance, so here we propose the active disturbance rejection sliding mode variable structure control method with extended state observer, in which a TD is used to process the reference input, a state observer to estimate the system state and the total disturbance, and the state error to formulate the switching function. This nonlinear variable structure control method realizes the excellent control for the robot joint and enhances the system anti-disturbance ability as well as the tracking accuracy.
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