Sliding Mode Robust Active Disturbance Rejection Control for Single-Link Flexible Arm with Large Payload Variations | |
Wang, Fan1,2,3; Liu, Peng1,2,3; Jing, Feng1,2,3; Liu, Bo1,3; Peng, Wei1,3; Guo, Min1,3; Xie, Meilin1,3 | |
作者部门 | 光电跟踪与测量技术研究室 |
2021-12 | |
发表期刊 | ELECTRONICS |
ISSN | 2079-9292 |
卷号 | 10期号:23 |
产权排序 | 1 |
摘要 | This paper proposes a novel robust control scheme for tip trajectory tracking of a lightweight flexible single-link arm. The developed control scheme deals with the influence of tip payload changes and disturbances during the working process of the flexible arm, thus realizing the accurate tracking for the tip reference trajectory. The robust control scheme is composed of an inner loop and an outer loop. The inner loop adopts the traditional PD control, and an active disturbance rejection control (ADRC) with a sliding mode (SM) compensation is designed in the outer loop. Moreover, the sliding mode compensation is mainly used to cope with the disturbance estimation error from the extended state observer (ESO), by which the insensitivity to tip payload variations and strong disturbance resistance is achieved. Finally, some numerical simulations are performed to support the theoretical analysis. The results show that the system is more robust to the tip mass variations of the arm and more resistant to the external torque after adding the sliding mode robustness term to the ADRC. |
关键词 | active disturbance rejection control (ADRC) single-link flexible arm sliding mode control (SMC) robustness disturbance resistance |
DOI | 10.3390/electronics10232995 |
收录类别 | SCI |
语种 | 英语 |
WOS记录号 | WOS:000735162900001 |
出版者 | MDPI |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.opt.ac.cn/handle/181661/95641 |
专题 | 光电跟踪与测量技术研究室 |
通讯作者 | Xie, Meilin |
作者单位 | 1.Chinese Acad Sci, Xian Inst Opt & Precis Mech 2.Univ Chinese Acad Sci 3.Chinese Acad Sci, Key Lab Space Precis Measurement Technol |
推荐引用方式 GB/T 7714 | Wang, Fan,Liu, Peng,Jing, Feng,et al. Sliding Mode Robust Active Disturbance Rejection Control for Single-Link Flexible Arm with Large Payload Variations[J]. ELECTRONICS,2021,10(23). |
APA | Wang, Fan.,Liu, Peng.,Jing, Feng.,Liu, Bo.,Peng, Wei.,...&Xie, Meilin.(2021).Sliding Mode Robust Active Disturbance Rejection Control for Single-Link Flexible Arm with Large Payload Variations.ELECTRONICS,10(23). |
MLA | Wang, Fan,et al."Sliding Mode Robust Active Disturbance Rejection Control for Single-Link Flexible Arm with Large Payload Variations".ELECTRONICS 10.23(2021). |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Sliding Mode Robust (2701KB) | 期刊论文 | 出版稿 | 限制开放 | CC BY-NC-SA | 请求全文 |
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