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Robust Finite-Time Stabilization of Fractional-Order Extended Nonholonomic Chained Form Systems Read chapter Read first chapter

2016 | OriginalPaper | Chapter

24. Decoupling Control of Manipulators Based on Active Disturbance Rejection

Authors : Xiaoming Song, Chaoli Wang

Published in: Proceedings of the 2015 Chinese Intelligent Systems Conference

Publisher: Springer Berlin Heidelberg

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Abstract

This paper discusses the decoupling control problem of manipulators and proposes a novel control method. This method does not need an accurate model of the robots and only needs input and output information of the robot. The system will be first transformed into a certain integral form by an extensive state observer (ESO) which is used to accurately estimate the systems various states and disturbances inside and outside. Then the decoupling control is investigated by using feed forward compensation. In the end, PD control with gravity compensation and active disturbance rejection control are provided to illustrate effectiveness of the controllers in the simulation.

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Metadata
Title
Decoupling Control of Manipulators Based on Active Disturbance Rejection
Authors
Xiaoming Song
Chaoli Wang
Copyright Year
2016
Publisher
Springer Berlin Heidelberg
Book
Proceedings of the 2015 Chinese Intelligent Systems Conference

Print ISBN: 978-3-662-48363-3

Electronic ISBN: 978-3-662-48365-7

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-662-48365-7_24

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