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All Journal Journal of Robotics and Control (JRC)
Martínez-Ochoa, Carlos E.
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Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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Journal : Journal of Robotics and Control (JRC)

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Active Disturbance Rejection Control for Robot Manipulator Martínez-Ochoa, Carlos E.; Benítez-González, Ivón O.; Cepero-Díaz, Ariel O.; Nuñez-Alvarez, José R.; Miguélez-Machado, Carlos G.; Llosas-Albuerne, Yolanda E.
Journal of Robotics and Control (JRC) Vol 3, No 5 (2022): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i5.14791

Abstract

Active Disturbance Rejection Control (ADRC) is a control methodology used in chemical processes, aircraft, motors, and other systems. This paper compares the results of an ADRC controller to a Proportional Integral Derivative controller (PID), applied to two degrees of freedom robots. A Linear Extended State Observer (LESO) is used to reconstruct the state variables and unknown parameters needed to control the position of each link. The ADRC can achieve the tracking position and estimate the velocity of each link. The results of the simulation program are shown.
Co-Authors Benítez-González, Ivón O. Cepero-Díaz, Ariel O. Llosas-Albuerne, Yolanda E. Miguélez-Machado, Carlos G. Nuñez-Alvarez, José R.