Ứng dụng điều khiển loại bỏ nhiễu chủ động cho tay máy robot linh hoạt một bậc tự do

Tóm tắt

Flexible Link Manipulators (FLM) have been used in
many fields. However, the control of FLM is
complicated due to the nature of flexibility in the
system and unavailable information of link
deflections. Active Disturbance Rejection Control
(ADRC) has recently been interested in as an
alternative to traditional PID controller. Due to its
simple tuning, fast response, and robustness against
process parameter variations, ADRC has a great
potential to tackle FLM control problem. In the paper,
an ADRC approach is applied to position control
problem of 1DOF-FLM. The system model is derived
based on Euler-Lagrange equations formulating a
foundation for calculating ADRC parameters.
Simulations results show good performance of the
closed-loop system.