RA-L 202212 citations
Trajectory Tracking Control for Delta Parallel Manipulators: A Variable Gain ADRC Approach
Shaomeng Gu, Jinhui Zhang, Suli Zou, Kai Zhao, Zhongjing Ma
Abstract
In this letter, a novel variable gain active disturbance rejection control (VGADRC) approach is developed for solving the trajectory tracking problem of delta parallel manipulators with disturbances. The proposed VGADRC, including variable gain tracking differentiator (VGTD), variable gain extended state observer (VGESO), and variable gain controller (VGC), incorporates the error-driven variable gains to achieve desired performance specifications, and the ultimate boundedness can be guaranteed. Finally, simulations and experiments are conducted to verify effectiveness and advantages of the proposed method.
BibTeX
@inproceedings{ral2022_trajectorytracki,
title = {Trajectory Tracking Control for Delta Parallel Manipulators: A Variable Gain ADRC Approach},
author = {Shaomeng Gu and Jinhui Zhang and Suli Zou and Kai Zhao and Zhongjing Ma},
booktitle = {RA-L 2022},
year = {2022}
}