A Robust adaptive method based on ESO for Trajectory Tracking of Robot Manipulator

被引：0

作者：

Li, Dazi ^{[1
]}

Wang, Jiang ^{[1
]}

机构：

[1] Beijing Univ Chem Technol, Dept Automat, Beijing 100029, Peoples R China

来源：

2019 IEEE 15TH INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA) | 2019年

基金：

北京市自然科学基金;

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Due to the strong nonlinearity, coupling and unknown external disturbances of the robot system, the problem of high precision trajectory tracking control of robot is always difficult to solve. Therefore, a robust adaptive trajectory tracking method based on extended state observer (ESO) is proposed in this paper. Extended state observer can estimate the sum of the internal and external disturbances, that is, the total disturbances of the system, and compensate it to achieve high precision tracking of the robot trajectory. Robust adaptive algorithm has good self-adjustability to the structural parameters of the robot system, so the robustness of the controller can be guaranteed. Simulation results show that the proposed method has good tracking performance and anti-interference performance.

引用

页码：506 / 511

页数：6

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