Active Disturbance Rejection Control for Robot Manipulator

Abstract

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.

Multi-loop active disturbance rejection control and PID control strategy for poultry house based on GA, PSO and GWO algorithms

“…To provide an estimation of the states , an ESO can be developed with the following form [ 17 , 18 , 31 ]: Where , provide the estimated values of , , respectively, and , are the observer gains values. represents the observer bandwidth which can be determined using pole placement technique [ 32 ].…”

“…The controller uses the extended state observer (ESO) to treat and reject the internal and external disturbances as total disturbance and a feedback controller to compensate for this existing disturbance and generate the desired signal. The ADRC control has been successfully used with a variety of systems, including control of DC motor [ 13 ], wind and power systems [ [14] , [15] , [16] ], mechanics [ 17 ] and robotics [ 18 ]. However, to the authors' knowledge, no literature review work has employed ADRC control to regulate poultry environment building.…”