A Parallel Fuzzy Nonlinear ADRC Framework for Robotic Machining with Vibrations

Abstract

This paper proposes a Parallel Fuzzy Nonlinear Active Disturbance Rejection Control (FNLADRC) strategy to improve the precision and robustness of robotic manipulators in machining large, complex components. By decoupling the multi-degree-of-freedom dynamics and integrating Nonlinear ADRC with fuzzy logic, the method adaptively estimates and compensates for disturbances in real time, effectively mitigating machining vibrations and trajectory errors. A parallel control architecture enhances multi-joint coordination, improving adaptability and response speed. Additionally, a fuzzy logic-based tuning mechanism dynamically adjusts control parameters to boost robustness. Simulations on a UR5 robotic arm validate the method’s superior performance in dynamic, uncertain environments, demonstrating FNLADRC as a promising solution for high-precision robotic machining.