Auto-disturbance resistant controller design of two-link manipulators

Tao Xiong; Nai Ming Qi; Zhi Guo Song

Auto-disturbance resistant controller design of two-link manipulators

Tao Xiong^*
, Nai Ming Qi
, Zhi Guo Song

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

4 Scopus citations

Abstract

For the nonlinear coupled system of two-link manipulators, ADRC (auto-disturbance resistant control) controllers are designed for the two joints, in which the ESO of ADRC for linearization via dynamic compensation is used to realize the decoupling control of two joints. Accurate tracking control of manipulator is achieved by selecting the control parameters of ADRC properly. Simulation results show the effectivity and the robustness of ADRC and put forward a new way for the tracking control of manipulator.

Original language	English
Pages (from-to)	131-134
Number of pages	4
Journal	Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology
Volume	43
Issue number	5
State	Published - May 2011
Externally published	Yes

Keywords

ADRC
Decoupling control
Tracking
Two-link manipulators

Cite this

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title = "Auto-disturbance resistant controller design of two-link manipulators",

abstract = "For the nonlinear coupled system of two-link manipulators, ADRC (auto-disturbance resistant control) controllers are designed for the two joints, in which the ESO of ADRC for linearization via dynamic compensation is used to realize the decoupling control of two joints. Accurate tracking control of manipulator is achieved by selecting the control parameters of ADRC properly. Simulation results show the effectivity and the robustness of ADRC and put forward a new way for the tracking control of manipulator.",

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author = "Tao Xiong and Qi, \{Nai Ming\} and Song, \{Zhi Guo\}",

year = "2011",

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T1 - Auto-disturbance resistant controller design of two-link manipulators

AU - Xiong, Tao

AU - Qi, Nai Ming

AU - Song, Zhi Guo

PY - 2011/5

Y1 - 2011/5

N2 - For the nonlinear coupled system of two-link manipulators, ADRC (auto-disturbance resistant control) controllers are designed for the two joints, in which the ESO of ADRC for linearization via dynamic compensation is used to realize the decoupling control of two joints. Accurate tracking control of manipulator is achieved by selecting the control parameters of ADRC properly. Simulation results show the effectivity and the robustness of ADRC and put forward a new way for the tracking control of manipulator.

AB - For the nonlinear coupled system of two-link manipulators, ADRC (auto-disturbance resistant control) controllers are designed for the two joints, in which the ESO of ADRC for linearization via dynamic compensation is used to realize the decoupling control of two joints. Accurate tracking control of manipulator is achieved by selecting the control parameters of ADRC properly. Simulation results show the effectivity and the robustness of ADRC and put forward a new way for the tracking control of manipulator.

KW - ADRC

KW - Decoupling control

KW - Tracking

KW - Two-link manipulators

UR - https://www.scopus.com/pages/publications/79959259492

M3 - 文章

AN - SCOPUS:79959259492

SN - 0367-6234

VL - 43

SP - 131

EP - 134

JO - Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology

JF - Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology

IS - 5

ER -

Auto-disturbance resistant controller design of two-link manipulators

Abstract

Keywords

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