Decoupling Control of Manipulators Based on Active Disturbance Rejection

被引：1

作者：

Song, Xiaoming ^{[1
]}

Wang, Chaoli ^{[1
]}

机构：

[1] Univ Shanghai Sci & Technol, Control Sci & Engn Dept, Shanghai 200093, Peoples R China

来源：

PROCEEDINGS OF THE 2015 CHINESE INTELLIGENT SYSTEMS CONFERENCE, VOL 2 | 2016年 / 360卷

关键词：

Active disturbance rejection control (ADRC); Manipulator control; Decoupling control;

D O I：

10.1007/978-3-662-48365-7_24

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper discusses the decoupling control problem of manipulators and proposes a novel control method. This method does not need an accurate model of the robots and only needs input and output information of the robot. The system will be first transformed into a certain integral form by an extensive state observer (ESO) which is used to accurately estimate the systems various states and disturbances inside and outside. Then the decoupling control is investigated by using feed forward compensation. In the end, PD control with gravity compensation and active disturbance rejection control are provided to illustrate effectiveness of the controllers in the simulation.

引用

页码：231 / 240

页数：10

共 12 条

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