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Sliding mode active disturbance rejection control for manipulator considering actuator saturation
1
School of Electronics and Information, Xi’an Polytechnic University, China
*
Author to whom correspondence should be addressed.
JEIT 2024 6(1):242; https://doi.org/10.69610/j.eit.20240516
Received: 20 March 2024 / Accepted: 1 May 2024 / Published Online: 16 May 2024
Abstract
Considering the issue of low control accuracy in joint trajectory tracking control for manipulator systems with actuator saturation due to external disturbances, modelling inaccuracies, and joint friction, a sliding mode active disturbance rejection control approach was proposed. An improved extended state observer is employed to observe and estimate the lumped disturbances affecting the system, providing feedback compensation. A variable gain reaching law is devised, coupled with a fast non-singular terminal sliding mode to design the system control law, which mitigates chattering inherent and ensuring precision control. Additionally, a novel output error compensation-based anti-windup scheme is introduced to compensate for the detrimental impacts caused by actuator saturation. Simulation results collectively demonstrate that the proposed tracking control algorithm exhibits better control performance and robustness against disturbances.
Copyright: © 2024 by Tian. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY) (Creative Commons Attribution 4.0 International License). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
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ACS Style
Tian, D. Sliding mode active disturbance rejection control for manipulator considering actuator saturation. Journal of Engineering Innovations & Technology, 2024, 6, 242. doi:10.69610/j.eit.20240516
AMA Style
Tian D. Sliding mode active disturbance rejection control for manipulator considering actuator saturation. Journal of Engineering Innovations & Technology; 2024, 6(1):242. doi:10.69610/j.eit.20240516
Chicago/Turabian Style
Tian, Dongyu 2024. "Sliding mode active disturbance rejection control for manipulator considering actuator saturation" Journal of Engineering Innovations & Technology 6, no.1:242. doi:10.69610/j.eit.20240516
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