Abstract
In this paper, a novel control strategy called the active disturbance rejection control (ADRC) is used for trajectory tracking control of a 2-DOF robotic arm manipulator. The manipulator system is a highly nonlinear, dynamically coupled and time-varying system. ADRC is a model-independent control strategy requiring knowledge of only the relative order and the output of the system. The conventional PID controller does not work well in case of highly coupled systems and the sliding mode control shows good dynamic control performance but requires an accurate model of the system. In contrast, ADRC treats coupling and nonlinearity as an external disturbance and provides better results. A second-order optimal tuned linear ADRC with reduced-order observer has been used in this paper for the trajectory tracking of the manipulator system.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Han JQ (1998) Auto-disturbance-rejection controller and it’s applications. Control Decis 13(1):19–23
Gao ZQ (2003) Scaling and bandwidth-parameterization based controller tuning. In: Proceedings of the 2003 American control conference, 2003, pp 4989–4996
Han JQ (2009) From PID to active disturbance rejection control. IEEE Trans Ind Electron 56(3):1–7
Chen X, Li D, Gao Z, Wang C (2011) Tuning method for second-order active disturbance rejection controller. In: Proceedings of the 30th Chinese control conference, July 22–24, 2011, Yantai, China
Teppa-Garran P, Garcia G (2013) Optimal tuning of PI/PID/PID (n-1) controllers in active disturbance rejection control. CEAI 15(4):26–36
Sun B, Gao Z (2005) A DSP-based active disturbance rejection control design for a 1-kW H-bridge DC-DC power converter. IEEE Trans Ind Electron 52:1271–1277
Su YX, Zheng CH, Duan BY (2005) Automatic disturbances rejection controller for precise motion control of permanent-magnet synchronous motors. IEEE Trans Ind Electron 52:814–823
Vincent J, Morris D, Usher N, Gao Z, Zhao S, Nicoletti A, Zheng Q (2013) On active disturbance rejection based control design for superconducting RF cavities. Nuclear Instrum Methods Phys Res A 643:11–16. (ADRC) as a control tool for practitioners. Electronics 2:246–279
Huang C, Li J, Mu S, Yan H (2017) Linear active disturbance rejection control approach for load frequency control of two-area interconnected power system. Trans Inst Meas Control
Ming C, Sun R, Wang X (2018) Velocity control based on active disturbance rejection for air-breathing supersonic vehicles. Complexity 2018:11 p
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Suhail, S.A., Bazaz, M.A., Hussain, S. (2021). Optimal Tuned Linear Active Disturbance Rejection Control Applied to a 2-DOF Robotic Arm Manipulator. In: Mahapatra, R.P., Panigrahi, B.K., Kaushik, B.K., Roy, S. (eds) Proceedings of 6th International Conference on Recent Trends in Computing. Lecture Notes in Networks and Systems, vol 177. Springer, Singapore. https://doi.org/10.1007/978-981-33-4501-0_62
Download citation
DOI: https://doi.org/10.1007/978-981-33-4501-0_62
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-33-4500-3
Online ISBN: 978-981-33-4501-0
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)