Combination of ADRC and Input Shaping and Its Application for Vibration Suppression control of Flexible Link Robot

Abstract

With many advantages such as robustness, fast response, easy turning, ADRC controllers are considered as replacement for traditional PID
controllers. However, in many flexible systems, ADRC alone cannot suppress the system’s residual vibration. Input shaping is a simple
feedforward technique that is widely used for vibration suppression control. This paper proposes the combination of ADRC and Input shaping technique to precisely control the position of a 1 DOF flexible link robot while suppress the vibration of the robot link. The simulations
show the effectiveness of the proposed approach.