Name
Abstract | ||
|---|---|---|
A tracking controller is developed for two degree of freedom (DOF) manipulator by using linear active disturbance rejection control (LADRC) method in this paper. The decoupling problem of a two-degree-of-freedom manipulator is studied, and the error generated by decoupling is explicitly considered as a part of composite disturbance in the controller design. The composite disturbance is estimated by extended state observer, and two LADRC controllers are embedded in parallel in the closed-loop control system. The simulation and experimental results are given to show the effectiveness of proposed control strategy. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/ICARM.2019.8834024 | 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM) |
Keywords | Field | DocType |
Two DOF manipulator,disturbance estimation,extended state observer (ESO),linear active disturbance rejection control (ADRC) | State observer,Control theory,Degrees of freedom (statistics),Control theory,Controller design,Computer science,Manipulator,Decoupling (cosmology),Active disturbance rejection control,Control system | Conference |
ISBN | Citations | PageRank |
978-1-7281-0065-4 | 0 | 0.34 |
References | Authors | |
7 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Wenchao Zheng | 1 | 1 | 0.69 |
| Mou Chen | 2 | 1251 | 59.31 |
| Ronggang Zhu | 3 | 0 | 0.34 |
| Rong Mei | 4 | 3 | 1.44 |