This paper presents an ADRC controller designed for a single link manipulator model, considering torsional vibrations in industrial robots. A fourth model is introduced to capture the complex dynamics. The ADRC successfully tracks desired trajectories despite non-linearity, uncertainties, and disturbances. Linear and nonlinear extended-state observers (ESOs) estimate and compensate for uncertainties. The control law is derived from the ESO by configuring the observer gain. Simulation results demonstrate the superior control performance of ADRC compared to PID, analyzing step and sinusoidal signals on the flexible joint system.
Active Disturbance Rejection Control of Flexible Joint System
Lect. Notes Electrical Eng.
International Conference on Robotics, Vision, Signal Processing and Power Applications ; 2021 April 05, 2021 - April 06, 2021
Proceedings of the 12th International Conference on Robotics, Vision, Signal Processing and Power Applications ; Chapter : 26 ; 207-213
2024-03-31
7 pages
Article/Chapter (Book)
Electronic Resource
English
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