Active Disturbance Rejection Control of Multi-Joint Industrial Robots Based on Dynamic Feedforward

被引：17
作者：
Cheng, Xin [1 ,2 ]
Tu, Xiao [3 ]
Zhou, Yunfei [3 ]
Zhou, Rougang [4 ]
机构：
[1] Wuhan Univ Technol, Sch Mech & Elect Engn, Wuhan 430070, Hubei, Peoples R China
[2] Wuhan Univ Technol, Hubei Maglev Engn Technol Res Ctr, Wuhan 430070, Hubei, Peoples R China
[3] Huazhong Univ Sci & Technol, Sch Mech Sci & Engn, Wuhan 430070, Hubei, Peoples R China
[4] Hangzhou Dianzi Univ, Sch Mech Engn, Hangzhou 310002, Zhejiang, Peoples R China
来源：
ELECTRONICS | 2019年 / 8卷 / 05期
关键词：
industrial robots; active disturbance rejection control; dynamic feedforward; cascade control structure; closed-loop stability; PRECISION MOTION CONTROL; EXTENDED STATE OBSERVER; ROBUST ADAPTIVE-CONTROL; NONLINEAR PID CONTROL; CONTROL ALGORITHM; CONVERGENCE; SYSTEMS; MANIPULATORS; PERFORMANCE;
D O I：
10.3390/electronics8050591
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the dynamics-based high-performance robot motion control technology has been mainly studied, and the overall structure is controlled via dynamics forward, given the nonlinearity, strong coupling and time-variability of robots. Considering the unavailability of precise robot model parameters and the uncertain disturbance in real operation, we put forward an active disturbance rejection control (ADRC) strategy based on dynamic feedforward, aiming to improve the control robustness and combining the simple structure, strong anti- disturbance ability, and no restriction from the control model of ADRC. Given the multi-joint coupling of robots, controlled decoupling is conducted by using dynamic characteristics. The ADRC cascade control structure and algorithm based on dynamic feedforward have been studied and the closed-loop stability of the system is investigated by analyzing the system dynamic linearization compensation and the anti-disturbance ability of the extended state observer. Experiments have shown the new strategy is more robust over uncertain disturbance than the conventional proportional-integral-derivative control strategy.
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页数：19
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