Trajectory Tracking Control for Delta Parallel Manipulators: A Variable Gain ADRC Approach

Article Automation & Control Systems

Trajectory tracking control for four-mecanum-wheel mobile vehicle: A variable gain active disturbance rejection control approach

Sihang Li et al.

Summary: A novel variable gain active disturbance rejection control (ADRC) approach is developed for the trajectory tracking control of a four-mecanum-wheel mobile vehicle in this article. The proposed approach includes variable gain tracking-differentiator (VGTD), variable gain extended state observer (VGESO), and composite disturbance rejection controller. Error-based variable gains are incorporated in VGTD, VGESO, and controller to improve transient performances.

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL (2022)

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Article Engineering, Mechanical

Variable-gain control for continuum robots based on velocity sensitivity

Xu Zhang et al.

Summary: This paper presents a kinematic model for a typical rod-driven continuum robot and introduces a velocity sensitivity parameter to evaluate the robot's motion characteristics. By proposing a variable gain control strategy, the fluctuation of tracking errors has been effectively reduced.

MECHANISM AND MACHINE THEORY (2022)

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Article Engineering, Mechanical

Efficient modeling and integrated control for tracking and vibration of a lightweight parallel manipulator including servo motor dynamics

Dong Liang et al.

Summary: This paper focuses on the efficient dynamic modeling and control of a lightweight parallel manipulator, proposing a novel hybrid control strategy to address the dynamic characteristics of the system. Simulation experiments demonstrate the effectiveness of the proposed control strategy in trajectory tracking and vibration suppression.

MECHANICAL SYSTEMS AND SIGNAL PROCESSING (2021)

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Article Computer Science, Information Systems