TY - JOUR
T1 - Active disturbance rejection control applied to a delta parallel robot in trajectory tracking tasks
AU - Ramírez-Neria, Mario
AU - Sira-Ramírez, Hebertt
AU - Luviano-Juárez, Alberto
AU - Rodrguez-Ángeles, Alejandro
N1 - Publisher Copyright:
© 2014 Chinese Automatic Control Society and Wiley Publishing Asia Pty Ltd.
PY - 2015/3/1
Y1 - 2015/3/1
N2 - In this article, the problem of robust trajectory tracking, for a parallel robot is tackled via an observer-based active disturbance rejection controller. The proposed design method is based on purely linear disturbance observation and linear feedback control techniques modulo nonlinear input gain injections and cancellations. The estimations are carried out through Generalized Proportional Integral (GPI) observers, endowed with output integral injection to ease the presence of possible zero mean measurement noise effects. As the lumped (both exogenous and endogenous) disturbance inputs are estimated, they are being used in the linear controllers for on-line disturbance cancellation, while the phase variables are being estimated by the same GPI observer. The estimations of the phase variables are used to complete a linear multivariable output feedback controller. The proposed control scheme does not need the exact knowledge of the system, which is a good alternative to classic control schemes such as computed torque method, reducing the computation time. The estimation and control method is approximate, ensuring small as desired reconstruction and tracking errors. The reported results, including laboratory experiments, are better than the results provided by the classical model-based techniques, shown to be better when the system is subject to endogenous and exogenous uncertainties.
AB - In this article, the problem of robust trajectory tracking, for a parallel robot is tackled via an observer-based active disturbance rejection controller. The proposed design method is based on purely linear disturbance observation and linear feedback control techniques modulo nonlinear input gain injections and cancellations. The estimations are carried out through Generalized Proportional Integral (GPI) observers, endowed with output integral injection to ease the presence of possible zero mean measurement noise effects. As the lumped (both exogenous and endogenous) disturbance inputs are estimated, they are being used in the linear controllers for on-line disturbance cancellation, while the phase variables are being estimated by the same GPI observer. The estimations of the phase variables are used to complete a linear multivariable output feedback controller. The proposed control scheme does not need the exact knowledge of the system, which is a good alternative to classic control schemes such as computed torque method, reducing the computation time. The estimation and control method is approximate, ensuring small as desired reconstruction and tracking errors. The reported results, including laboratory experiments, are better than the results provided by the classical model-based techniques, shown to be better when the system is subject to endogenous and exogenous uncertainties.
KW - Active disturbance rejection control
KW - GPI observers
KW - delta robot
KW - disturbance estimation
UR - http://www.scopus.com/inward/record.url?scp=84924607744&partnerID=8YFLogxK
U2 - 10.1002/asjc.912
DO - 10.1002/asjc.912
M3 - Artículo
SN - 1561-8625
VL - 17
SP - 636
EP - 647
JO - Asian Journal of Control
JF - Asian Journal of Control
IS - 2
ER -