Fractional-Order Active Disturbance Rejection Controller for Motion Control of a Novel 6-DOF Parallel Robot

被引：12

作者：

Shi, Xinxin ^{[1
]}

Huang, Jiacai ^{[2
]}

Gao, Fangzheng ^{[1
]}

机构：

[1] Nanjing Inst Technol, Sch Automat, 1 Hongjing Rd, Nanjing 211167, Peoples R China

[2] Nanjing Inst Technol, Ind Ctr, 1 Hongjing Rd, Nanjing 211167, Peoples R China

来源：

MATHEMATICAL PROBLEMS IN ENGINEERING | 2020年 / 2020卷

基金：

中国国家自然科学基金;

关键词：

SLIDING MODE CONTROL; OBSERVER; MANIPULATOR; DESIGN;

D O I：

10.1155/2020/3657848

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

A novel 6-degree-of-freedom (6-DOF) parallel robot driven by six novel linear motors is designed and controlled in this paper. Detailed structures of linear motors are illustrated. A control strategy based on kinematics of the 6-DOF parallel robot is used, and six linear motors are controlled to track their own desired trajectories under a designed fractional-order active disturbance rejection controller (FOADRC). Compared with the normal ADRC, two desired trajectories and three different working situations of a linear motor are simulated to show good performances of the FOADRC. Experimental results show that six linear motors can track their own desired trajectories accurately under payloads and disturbances, and the novel 6-DOF parallel robot can be controlled well.

引用

页数：7

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