Linear-extended-state-observer-based prescribed performance control for trajectory tracking of a robotic manipulator

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Bingjie Xu ◽  
Shuai Ji ◽  
Chengrui Zhang ◽  
Chao Chen ◽  
Hepeng Ni ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Error ◽  
Robotic Manipulator ◽  
Tracking Accuracy ◽  
Content Type ◽  
Prescribed Performance ◽  
Active Disturbance Rejection ◽  
Prescribed Performance Control ◽  
Disturbance Rejection Control ◽  
Linear Extended State Observer

Purpose Trajectory tracking error of robotic manipulator has limited its applications in trajectory tracking control systems. This paper aims to improve the trajectory tracking accuracy of robotic manipulator, so a linear-extended-state-observer (LESO)-based prescribed performance controller is proposed. Design/methodology/approach A prescribed performance function with the convergence rate, maximum overshoot and steady-state error is derived for the output error transformation, whose stability can guarantee trajectory tracking accuracy of the original robotic system. A LESO is designed to estimate and eliminate the total disturbance, which neither requires a detailed system model nor a heavy computation load. The stability of the system is proved via the Lyapunov theory. Findings Comparative experimental results show that the proposed controller can achieve better trajectory tracking accuracy than proportional-integral-differential control and linear active disturbance rejection control. Originality/value In the LESO-based prescribed performance control (PPC), the LESO was incorporated into the PPC design, it solved the problem of stabilizing the complex transformed system and avoided the costly offline identification of dynamic model and estimated and eliminated the total disturbance in real-time with light computational burden. LESO-based PPC further improved control accuracy on the basis of linear-active-disturbance-rejection-control. The new proposed method can reduce the trajectory tracking error of the robotic manipulators effectively on the basis of simplicity and stability.

scholarly journals Active Disturbance Rejection Control for Air-Breathing Hypersonic Vehicles Based on Prescribed Performance Function

2019 ◽  
Vol 2019 ◽  
pp. 1-20 ◽  
Author(s):  
Chenyang Xu ◽  
Humin Lei ◽  
Na Lu
Keyword(s):  
Disturbance Rejection ◽  
Tracking Error ◽  
Hypersonic Vehicles ◽  
Active Disturbance Rejection Control ◽  
Parameter Uncertainties ◽  
Performance Function ◽  
Air Breathing ◽  
Prescribed Performance ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Aiming at the longitudinal motion model of the air-breathing hypersonic vehicles (AHVs) with parameter uncertainties, a new prescribed performance-based active disturbance rejection control (PP-ADRC) method was proposed. First, the AHV model was divided into a velocity subsystem and altitude system. To guarantee the reliability of the control law, the design process was based on the nonaffine form of the AHV model. Unlike the traditional prescribed performance control (PPC), which requires accurate initial tracking errors, by designing a new performance function that does not depend on the initial tracking error and can ensure the small overshoot convergence of the tracking error, the error convergence process can meet the desired dynamic and steady-state performance. Moreover, the designed controller combined with an active disturbance rejection control (ADRC) and extended state observer (ESO) further enhanced the disturbance rejection capability and robustness of the method. To avoid the differential expansion problem and effectively filter out the effects of input noise in the differential signals, a new tracking differentiator was proposed. Finally, the effectiveness of the proposed method was verified by comparative simulations.

Singularity avoidance of 6R decoupled manipulator using improved Gaussian distribution damped reciprocal algorithm

2017 ◽  
Vol 44 (3) ◽  
pp. 324-332 ◽  
Author(s):  
Hong-Xin Cui ◽  
Ke Feng ◽  
Huan-Liang Li ◽  
Jin-Hua Han
Keyword(s):  
Gaussian Distribution ◽  
Trajectory Tracking ◽  
Design Methodology ◽  
Tracking Error ◽  
Tracking Accuracy ◽  
Singularity Avoidance ◽  
Content Type ◽  
Simulation And Experiment ◽  
The Common ◽  
Important Significance

Purpose To improve the trajectory tracking accuracy of 6R decoupled manipulator in singularity region, this paper aims to propose a singularity avoidance algorithm named “singularity separation plus improved Gaussian distribution damped reciprocal”. Design/methodology/approach The manipulator is divided into forearm and wrist, and the corresponding singularity factors are separated based on kinematics calculation. Singularity avoidance is achieved by replacing the common reciprocal with the improved Gaussian distribution damped reciprocal. Findings Compared with common damped reciprocal algorithm and classical Gaussian distribution algorithm, the continuity of the proposed algorithm is improved and the tracking error is minimized. The simulation and experiment results prove effectiveness and practicability of the proposed algorithm. Originality/value This study has an important significance to improve the efficiency and operation accuracy of 6R decoupled manipulator.

scholarly journals A Novel Linear Active Disturbance Rejection Control Design for Air-Breathing Supersonic Vehicle Attitude System with Prescribed Performance

2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Chao Ming ◽  
Xiaoming Wang
Keyword(s):  
Disturbance Rejection ◽  
Tracking Error ◽  
Transient State ◽  
Control Technique ◽  
Active Disturbance Rejection Control ◽  
Air Breathing ◽  
Prescribed Performance ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Attitude Controller

This paper investigates the design problem of the attitude controller for air-breathing supersonic vehicle subject to uncertainties and disturbances. Firstly, the longitudinal model is established for the attitude controller design which is devised as a strict feedback formulation, and a transformed tracking error is derived with the prescribed performance control technique such that it can limit the tracking error to a predefined region. Then, a novel linear active disturbance rejection control scheme is proposed for the attitude system to enhance the steady-state and transient-state performances by incorporating the transformed tracking error. On the basis of the Lyapunov stability theorem, the convergence and stability characteristics are both rigorously proved for the closed-loop system. Finally, extensive contrast simulations are conducted to demonstrate the effectiveness, robustness, and advantage of the proposed control strategy.

Active Disturbance Rejection Control for Trajectory Tracking of Manipulator Joint with Flexibility and Friction

2013 ◽  
Vol 325-326 ◽  
pp. 1229-1232 ◽  
Author(s):  
Ming Chu ◽  
Gang Chen ◽  
Fei Jie Huang ◽  
Qing Xuan Jia
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
External Disturbance ◽  
Active Disturbance Rejection Control ◽  
Tracking Accuracy ◽  
Active Disturbance Rejection ◽  
State Observers ◽  
Disturbance Rejection Control ◽  
In Series ◽  
Time Observation

For high-accuracy trajectory tracking of manipulator joint, the more realistic dynamic equations, considering reducer flexibility, nonlinear friction and external disturbance, are established and then decomposed into two subsystems in series. A double closed-loop controller, which is mainly used to compensate the flexibility, is designed by using active disturbance rejection control (ADRC) technology. The extended state observers are applied for real-time observation and compensation of the nonlinear terms. Simulation results indicate that the flexibility and friction are simultaneously overcomed, and the proposed controller can greatly improve the tracking accuracy.

scholarly journals ADRC-Based Control Method for the Vascular Intervention Master–Slave Surgical Robotic System

Micromachines ◽  
2021 ◽  
Vol 12 (12) ◽  
pp. 1439
Author(s):  
Wei Zhou ◽  
Shuxiang Guo ◽  
Jin Guo ◽  
Fanxu Meng ◽  
Zhengyang Chen
Keyword(s):  
Control Method ◽  
Tracking Error ◽  
Robotic System ◽  
X Rays ◽  
Tracking Accuracy ◽  
Vascular Intervention ◽  
Surgical Safety ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Vascular Interventional Surgery

In vascular interventional surgery, surgeons operate guidewires and catheters to diagnose and treat patients with the assistance of the digital subtraction angiography (DSA). Therefore, the surgeon will be exposed to X-rays for extended periods. To protect the surgeon, the development of a robot-assisted surgical system is of great significance. The displacement tracking accuracy is the most important issue to be considered in the development of the system. In this study, the active disturbance rejection control (ADRC) method is applied to guarantee displacement tracking accuracy. First, the core contents of the proportional–integral–derivative (PID) and ADRC methods are analyzed. Second, comparative evaluation experiments for incremental PID and ADRC methods are presented. The results show that the ADRC method has better performance of than that of the incremental PID method. Finally, the calibration experiments for the ADRC control method are implemented using the master–slave robotic system. These experiments demonstrate that the maximum tracking error is 0.87 mm using the ADRC method, effectively guaranteeing surgical safety.

scholarly journals Linear Active Disturbance Rejection Control for Lever-Type Electric Erection System Based on Approximate Model

2019 ◽  
Vol 2019 ◽  
pp. 1-7
Author(s):  
Hailong Niu ◽  
Qinhe Gao ◽  
Shengjin Tang ◽  
Wenliang Guan
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Approximate Model ◽  
Control Law ◽  
Active Disturbance Rejection Control ◽  
Tracking Accuracy ◽  
Servo Drive ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Servo Drive System

Linear active disturbance rejection control (LADRC) algorithm is proposed to realize accurate trajectory tracking for the lever-type electric erection system. By means of system identification and curve fitting, the approximate model is built, which is consisting of the servo drive system with velocity closed-loop and the lever-type erection mechanism. The proportional control law with velocity feedforward is designed to improve the trajectory tracking performance. The experimental results verify that, based on approximate model, LADRC has better tracking accuracy and stronger robustness to the disturbance caused by the change of intrinsic parameters compared with PI controller.

scholarly journals Improved Linear Active Disturbance Rejection Control for Lever-Type Electric Erection System with Varying Loads and Low-Resolution Encoder

2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Hailong Niu ◽  
Qinhe Gao ◽  
Zhihao Liu ◽  
Shengjin Tang ◽  
Wenliang Guan
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Approximate Model ◽  
Control Mode ◽  
Active Disturbance Rejection Control ◽  
Tracking Accuracy ◽  
Low Resolution ◽  
Reduced Order ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

The lever-type electric erection system is a novel kind of erection system and the experimental platform in this paper operates with varying loads and low-resolution encoder. For high accuracy trajectory tracking, linear active disturbance rejection control (LADRC) is introduced. An approximate model, consisting of the servo system configured at velocity control mode and the lever-type erection mechanism, is built by means of system identification and curve fitting. Reduced-order LADRC based on the further simplified model is proposed to improve tracking accuracy and robustness. As comparisons, traditional LADRC and PID with high-gain tracking differentiator (HGTD) are designed. Simulation and experimental results indicate that reduced-order LADRC can realize higher trajectory tracking accuracy with low-resolution encoder and has better robustness to variation in erection loads, compared with traditional LADRC and PID with HGTD.

Application Study of Active Disturbance Rejection Control Technology

2011 ◽  
Vol 383-390 ◽  
pp. 701-706 ◽  
Author(s):  
Xin Xin Shi ◽  
Si Qin Chang
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Tracking Error ◽  
Linear Actuator ◽  
Control Technology ◽  
Active Disturbance Rejection Control ◽  
Trajectory Tracking Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Active disturbance rejection control technology and its application to trajectory tracking control of a linear actuator are presented in this paper. Working principle of each part of this control technology is given, and parameter tuning method is discussed which helps control engineers to use this technology well. In order to test the performance of active disturbance rejection control technology, a sinusoidal trajectory tracking control system of a linear actuator is constructed. Simulation and experimental results show that the introduced control technology can achieve small tracking error at low velocity where friction is the main disturbance. Active disturbance rejection control technology provides a good choice for control engineers in actual industry applications with its simple structure, convenience to use and excellent performance.

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