Journal of Robotics and Control (JRC)
Vol 3, No 5 (2022): September

Active Disturbance Rejection Control for Robot Manipulator

Martínez-Ochoa, Carlos E. (Unknown)
Benítez-González, Ivón O. (Unknown)
Cepero-Díaz, Ariel O. (Unknown)
Nuñez-Alvarez, José R. (Unknown)
Miguélez-Machado, Carlos G. (Unknown)
Llosas-Albuerne, Yolanda E. (Unknown)

Article Info

Publish Date
01 Sep 2022

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.

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Journal Info
Journal of Robotics and Control (JRC)
Website

Abbrev

jrc

Publisher

Universitas Muhammadiyah Yogyakarta

Subject

Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

Description

Journal of Robotics and Control (JRC) is an international open-access journal published by Universitas Muhammadiyah Yogyakarta. The journal invites students, researchers, and engineers to contribute to the development of theoretical and practice-oriented theories of Robotics and Control. Its scope ...