NDLI: Active disturbance rejection control for trajectory tracking of space manipulator flexible joint

Content Provider	IEEE Xplore Digital Library
Author	Zhao Zhigang Tian Hao Zhao Yang
Copyright Year	2011
Description	Author affiliation: School of Astronautics, Harbin Institute of Technology, 150001, China (Zhao Zhigang; Tian Hao; Zhao Yang)
Abstract	The high-precision trajectory tracking control for space manipulator flexible joint is researched. The second-order cascade dynamics equations with motor uncertainties and load disturbance of flexible joint are established. A control strategy of active disturbance rejection control (ADRC) and double closed-loop control is presented based on cascade systems. Both the inner and outer loops are designed by active disturbance rejection controllers. In this method the disturbances are estimated using extended state observer (ESO) and compensated during each sampling period. The designed controller not only satisfies the quick response speed and steady-state accuracy demands, but also effectively resists to the motor uncertainties and the load disturbance. Control algorithm is simple and it is easy to digital implement. The simulation results indicate that the designed of the double closed-loop control system has high-precision and stronger robustness and has important engineering significance.
Starting Page	727
Ending Page	732
File Size	254944
Page Count	6
File Format	PDF
ISBN	9781457706776
ISSN	21612927
e-ISBN	9789881725592
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-07-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	Uncertainty Service robots Space Manipulator Aerospace electronics Control systems Active Disturbance Rejection Control Flexible Joint Trajectory Tracking Manipulator dynamics
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Active Disturbance Rejection Control for Manipulator Flexible Joint with Dynamic Friction and Uncertainties Compensation

Dynamic Modeling and Stiffness Coefficient Analysis of a 3-DOF Flexible Joint Space Manipulator

Trajectory tracking control of three-joint mechanical manipulators based on the disturbance rejection method

Nonlinear disturbance rejection of a flexible robot

The trajectory tracking of space flexible manipulator with large payloads based on optimal control

Trajectory-tracking control of a multiple flexible joint robot based on singular perturbation

Robust nonlinear task space position tracking control of an autonomous underwater vehicle-manipulator system

Robust PID control for position tracking of an underwater manipulator

Extended State Observer based control of flexible joint system

Active disturbance rejection control for trajectory tracking of space manipulator flexible joint

Similar Documents

Active Disturbance Rejection Control for Manipulator Flexible Joint with Dynamic Friction and Uncertainties Compensation

Dynamic Modeling and Stiffness Coefficient Analysis of a 3-DOF Flexible Joint Space Manipulator

Trajectory tracking control of three-joint mechanical manipulators based on the disturbance rejection method

Nonlinear disturbance rejection of a flexible robot

The trajectory tracking of space flexible manipulator with large payloads based on optimal control

Trajectory-tracking control of a multiple flexible joint robot based on singular perturbation

Robust nonlinear task space position tracking control of an autonomous underwater vehicle-manipulator system

Robust PID control for position tracking of an underwater manipulator

Extended State Observer based control of flexible joint system

Active disturbance rejection control for trajectory tracking of space manipulator flexible joint