| Qiao Guanyu（乔冠宇）,Peng Cheng,Xu Zhenbang,Gao Huibin.[J].高技术通讯(英文),2019,25(4):347~354 |
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| Trajectory tracking control based on linear active disturbance rejection controller for 6-DOF robot manipulator |
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| DOI：doi：10.3772/j.issn.1006-6748.2019.04.001 |
| 中文关键词: |
| 英文关键词: 6-DOF robot manipulator, linear active disturbance rejection controller (LADRC), linear expansion state observer (LESO), trajectory tracking control |
| 基金项目: |
| Author Name | Affiliation | | Qiao Guanyu（乔冠宇） | | | Peng Cheng | | | Xu Zhenbang | | | Gao Huibin | |
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| 中文摘要: |
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| 英文摘要: |
| The trajectory tracking control for a 6-DOF robot manipulator with multiple inputs and outputs, non-linearity and strong coupling is studied. Firstly, a dynamical model for the 6-DOF robot manipulator is designed. From the view point of practical engineering, considering the model uncertainties and external disturbances, the robot manipulator is divided into 6 independent joint subsystems, and a linear active disturbance rejection controller(LADRC) is developed to track trajectory for each subsystem respectively. LADRC has few parameters that are easy to be adjusted in engineering. Linear expansion state observer(LESO) as the uncertainty observer is able to estimate the general uncertainties effectively. Eventually, the validity and robustness of the proposed method adopted in 6-DOF robot manipulator are demonstrated via numerical simulations and 6-DOF robot manipulator experiments, which is of practical value in engineering application. |
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