TY - JOUR
T1 - Robust Trajectory Tracking of a Delta Robot Through Adaptive Active Disturbance Rejection Control
AU - Castañeda, Luis Angel
AU - Luviano-Juárez, Alberto
AU - Chairez, Isaac
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2015/7/1
Y1 - 2015/7/1
N2 - This paper describes the adaptive control design to solve the trajectory tracking problem of a Delta robot with uncertain dynamical model. This robot is a fully actuated, parallel closed-chain device. The output-based adaptive control was designed within the active disturbance rejection framework. An adaptive nonparametric representation for the uncertain section of the robot model was obtained using an adaptive least mean squares procedure. The adaptive algorithm was designed without considering the velocity measurements of the robot joints. Therefore, a simultaneous observer-identifier scheme was the core of the control design. A set of experimental tests were developed to prove the performance of the algorithm presented in this paper. Some reference trajectories were proposed which were successfully tracked by the robot. In all the experiments, the adaptive scheme showed a better performance than the regular proportional-integral-derivative (PID) controller with feed-forward actions as well as a nonadaptive active disturbance rejection controller. A set of numerical simulations was developed to show that even under five times faster reference trajectories, the adaptive controller showed better results than the PID controller.
AB - This paper describes the adaptive control design to solve the trajectory tracking problem of a Delta robot with uncertain dynamical model. This robot is a fully actuated, parallel closed-chain device. The output-based adaptive control was designed within the active disturbance rejection framework. An adaptive nonparametric representation for the uncertain section of the robot model was obtained using an adaptive least mean squares procedure. The adaptive algorithm was designed without considering the velocity measurements of the robot joints. Therefore, a simultaneous observer-identifier scheme was the core of the control design. A set of experimental tests were developed to prove the performance of the algorithm presented in this paper. Some reference trajectories were proposed which were successfully tracked by the robot. In all the experiments, the adaptive scheme showed a better performance than the regular proportional-integral-derivative (PID) controller with feed-forward actions as well as a nonadaptive active disturbance rejection controller. A set of numerical simulations was developed to show that even under five times faster reference trajectories, the adaptive controller showed better results than the PID controller.
KW - Active disturbance rejection control (ADRC)
KW - Delta robot
KW - adaptive observers
KW - parallel robots
KW - position control
UR - http://www.scopus.com/inward/record.url?scp=85027929971&partnerID=8YFLogxK
U2 - 10.1109/TCST.2014.2367313
DO - 10.1109/TCST.2014.2367313
M3 - Artículo
SN - 1063-6536
VL - 23
SP - 1387
EP - 1398
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
IS - 4
M1 - 6960100
ER -