Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 7, Issue 3, Pages 7747-7754Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2022.3184766
Keywords
Delta parallel manipulator; trajectory tracking; variable gain active disturbance rejection control (VGADRC)
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Funding
- National Natural Science Foundation of China [61873030]
- National Key Research and Development Program of China [2018YFB1700602]
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In this paper, a novel variable gain active disturbance rejection control (VGADRC) approach is introduced to tackle the trajectory tracking problem of delta parallel manipulators with disturbances. The proposed method incorporates error-driven variable gains to achieve desired performance specifications, while guaranteeing ultimate boundedness. Simulations and experiments are conducted to verify the effectiveness and advantages of the proposed method.
In this letter, a novel variable gain active disturbance rejection control (VGADRC) approach is developed for solving the trajectory tracking problem of delta parallel manipulators with disturbances. The proposed VGADRC, including variable gain tracking differentiator (VGTD), variable gain extended state observer (VGESO), and variable gain controller (VGC), incorporates the error-driven variable gains to achieve desired performance specifications, and the ultimate boundedness can be guaranteed. Finally, simulations and experiments are conducted to verify effectiveness and advantages of the proposed method.
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