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Open AccessArticle

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

1
School of Mechanical & Electronic Engineering, Wuhan University of Technology, Wuhan 430070, China
2
Hubei Maglev Engineering Technology Research Center, Wuhan University of Technology, Wuhan 430070, China
3
School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan 430070, China
4
School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310002, China
*
Author to whom correspondence should be addressed.
Electronics 2019, 8(5), 591; https://doi.org/10.3390/electronics8050591
Received: 3 May 2019 / Revised: 19 May 2019 / Accepted: 23 May 2019 / Published: 27 May 2019
(This article belongs to the Special Issue Motion Planning and Control for Robotics)
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. View Full-Text
Keywords: industrial robots; active disturbance rejection control; dynamic feedforward; cascade control structure; closed-loop stability industrial robots; active disturbance rejection control; dynamic feedforward; cascade control structure; closed-loop stability
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MDPI and ACS Style

Cheng, X.; Tu, X.; Zhou, Y.; Zhou, R. Active Disturbance Rejection Control of Multi-Joint Industrial Robots Based on Dynamic Feedforward. Electronics 2019, 8, 591.

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