Active disturbance rejection control for robot manipulator

Active Disturbance Rejection Control (ADRC) is a control methodology used in chemical processes, aircraft, motors, and other systems. This paper compares the results of an ADRC controller to a Proportional Integral Derivative controller (PID), applied to two degrees of freedom robots. A Linear Exten...

Full description

Autores:: Martínez Ochoa, Carlos E.
Benítez González, Ivón Oristela
Cepero Díaz, Ariel Omar
Nuñez-Alvarez, José R.
Miguélez-Machado, Carlos G.
Llosas Albuerne, Yolanda

Tipo de recurso:: Article of investigation

Fecha de publicación:: 2022

Institución:: Corporación Universidad de la Costa

Repositorio:: REDICUC - Repositorio CUC

Idioma:: eng

id	RCUC2_e3bd9bfc3f0fa5452d0d3267f1952e82
oai_identifier_str	oai:repositorio.cuc.edu.co:11323/10913
network_acronym_str	RCUC2
network_name_str	REDICUC - Repositorio CUC
repository_id_str
dc.title.eng.fl_str_mv	Active disturbance rejection control for robot manipulator
title	Active disturbance rejection control for robot manipulator
spellingShingle	Active disturbance rejection control for robot manipulator ADCR Control Disturbance Observer Robot
title_short	Active disturbance rejection control for robot manipulator
title_full	Active disturbance rejection control for robot manipulator
title_fullStr	Active disturbance rejection control for robot manipulator
title_full_unstemmed	Active disturbance rejection control for robot manipulator
title_sort	Active disturbance rejection control for robot manipulator
dc.creator.fl_str_mv	Martínez Ochoa, Carlos E. Benítez González, Ivón Oristela Cepero Díaz, Ariel Omar Nuñez-Alvarez, José R. Miguélez-Machado, Carlos G. Llosas Albuerne, Yolanda
dc.contributor.author.none.fl_str_mv	Martínez Ochoa, Carlos E. Benítez González, Ivón Oristela Cepero Díaz, Ariel Omar Nuñez-Alvarez, José R. Miguélez-Machado, Carlos G. Llosas Albuerne, Yolanda
dc.subject.proposal.eng.fl_str_mv	ADCR Control Disturbance Observer Robot
topic	ADCR Control Disturbance Observer Robot
description	Active Disturbance Rejection Control (ADRC) is a control methodology used in chemical processes, aircraft, motors, and other systems. This paper compares the results of an ADRC controller to a Proportional Integral Derivative controller (PID), applied to two degrees of freedom robots. A Linear Extended State Observer (LESO) is used to reconstruct the state variables and unknown parameters needed to control the position of each link. The ADRC can achieve the tracking position and estimate the velocity of each link. The results of the simulation program are shown.
publishDate	2022
dc.date.issued.none.fl_str_mv	2022
dc.date.accessioned.none.fl_str_mv	2024-03-21T14:55:48Z
dc.date.available.none.fl_str_mv	2024-03-21T14:55:48Z
dc.type.spa.fl_str_mv	Artículo de revista
dc.type.coar.spa.fl_str_mv	http://purl.org/coar/resource_type/c_2df8fbb1
dc.type.content.spa.fl_str_mv	Text
dc.type.driver.spa.fl_str_mv	info:eu-repo/semantics/article
dc.type.redcol.spa.fl_str_mv	http://purl.org/redcol/resource_type/ART
dc.type.version.spa.fl_str_mv	info:eu-repo/semantics/publishedVersion
dc.type.coarversion.spa.fl_str_mv	http://purl.org/coar/version/c_970fb48d4fbd8a85
format	http://purl.org/coar/resource_type/c_2df8fbb1
status_str	publishedVersion
dc.identifier.issn.spa.fl_str_mv	2715-5056
dc.identifier.uri.none.fl_str_mv	https://hdl.handle.net/11323/10913
dc.identifier.doi.none.fl_str_mv	10.18196/jrc.v3i5.14791
dc.identifier.eissn.spa.fl_str_mv	2715-5072
dc.identifier.instname.spa.fl_str_mv	Corporación Universidad de la Costa
dc.identifier.reponame.spa.fl_str_mv	REDICUC – Repositorio CUC
dc.identifier.repourl.spa.fl_str_mv	https://repositorio.cuc.edu.co/
identifier_str_mv	2715-5056 10.18196/jrc.v3i5.14791 2715-5072 Corporación Universidad de la Costa REDICUC – Repositorio CUC
url	https://hdl.handle.net/11323/10913 https://repositorio.cuc.edu.co/
dc.language.iso.spa.fl_str_mv	eng
language	eng
dc.relation.ispartofjournal.spa.fl_str_mv	Journal of Robotics and Control (JRC)
dc.relation.references.spa.fl_str_mv	J. Gong, W. Wei, G. Cai, Y. Liu, and X. Peng, “Kinematic Performance Analysis of a Controllable Mechanism Welding Robot with Joint Clearance,” MATEC Web of Conferences, vol. 327, pp. 03006. 2020, doi: 10.1051/matecconf/202032703006. B. Altiner, A. Delibasxi, and B. Erol, “Modeling and control of flexible link manipulators for unmodeled dynamics effect. Journal Systems and Control Engineering,” Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, vol. 233, pp. 245-263, 2019, doi: 10.1177/0959651818791071. A. AlAttar and P. Kormushev, “Kinematic-Model-Free Orientation Control for Robot Manipulation Using Locally Weighted Dual Quaternions,” Robotics, vol. 9, pp. 76, 2020, doi: 10.3390/robotics9040076. K. Pasha, “A suggested simple design and inverse kinematics for a multi-degrees-of-freedom robot arm,” International Robotics & Automation Journal, vol. 7, pp. 103‒110, 2021, doi: 10.15406/iratj.2021.07.00234. B. Chen and J. Huang, “Decreasing infinite-mode vibrations in single-link flexible manipulators by a continuous function,” Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, vol. 231, pp. 436-446, 2017, doi: 10.1177/0959651817708489. X. Cheng, X. Tu, Y. Zhou, and R. Zhou, “Active Disturbance Rejection Control of Multi-Joint Industrial Robots Based on Dynamic Feedforward,” Electronics, vol. 8, pp. 591, 2019, doi: 10.3390/electronics8050591. A. J. Humaidi, H. M. Badr, and A. R. Ajil, “Design of Active Disturbance Rejection Control for Single-Link Flexible Joint Robot Manipulator,” 2018 22nd International Conference on System Theory, Control and Computing (ICSTCC), pp. 452-457, 2018, doi: 10.1109/ICSTCC.2018.8540652. X. Wenchao, R. Madoński, K. Łakomy, and Z. Gao, “Add-On Module of Active Disturbance Rejection for Set-Point Tracking of Motion Control Systems,” IEEE Transactions on Industry Applications, vol. 53, pp. 4028-4040, 2017, doi: 10.1109/TIA.2017.2677360. J. Han, “From PID to Active Disturbance Rejection Control,” IEEE Transactions on Industrial Electronics, vol. 56, pp. 900-906, 2019, doi: 10.1109/TIE.2008.2011621. G. Zhiqiang, “Active disturbance rejection control: a paradigm shift in feedback control system design," 2006 American Control Conference, vol. 7, 2006, doi: 10.1109/ACC.2006.1656579. R. Fareh, M. Al-Shabi, M. Bettayeb, and J. Ghommam, “Robust Active Disturbance Rejection Control for Flexible Link Manipulator,” Robotica, vol. 38, no. 1, pp. 1-18, 2019, doi: 10.1017/S026357471900050X. Y. Huang, W. Xue, G. Zhiqiang, H. Sira-Ramirez, D. Wu, and M. Sun, “Active disturbance rejection control: Methodology, practice and analysis,” Proceedings of the 33rd Chinese Control Conference, pp. 1-5, 2014, doi: 10.1109/ChiCC.2014.6896585. L. Sun, J. Dong, and K. Lee, “A Practical Multivariable Control Approach Based on Inverted Decoupling and Decentralized Active Disturbance Rejection Control,” American Chemical Society, vol. 55, no. 7, pp. 2008-2019, 2016, doi: 10.1021/acs.iecr.5b03738. C. Wang, J. Huang, C. Wang, and R. Wu, “Dynamic Surface-Active Disturbance Rejection Control for Two-Wheeled Self-Balancing Robot,” ICRCA '18: Proceedings of the 3rd International Conference on Robotics, Control and Automation, pp. 82–87, 2018, doi: 10.1145/3265639.3265645. H. Coral-Enriquez and S. Pulido-Guerrero, “Sway reduction in tower-cranes through discrete-time resonant active disturbance rejection control,” 2017, vol. 85, pp. 65-75, 2017, DOI: doi: 10.15446/dyna.v85n204.63245. Z. Zhou, S. B. Elghali, M. Benbouzid, Y. Amirat, E. Elbouchikhi, and G. Feld, “Tidal stream turbine control: An active disturbance rejection control approach,” Ocean Engineering, vol. 202, pp. 107190, 2020, doi: 10.1016/j.oceaneng.2020.107190. B. Sánchez-García, F. Reyes-Cortés, B. M. Al-Hadithi, and Olga Félix-Beltrán “Global Saturated Regulator with Variable Gains for Robot Manipulators”, Journal of Robotics and Control (JRC), vol. 2, no. 6, pp 571-581, 2021, doi: 10.18196/jrc.26139. F. Reyes and R. Kelly, “Experimental evaluation of model-based controllers on a direct-drive robot arm”, Mechatronics, vol. 11, pp 267-282, 2001, doi: 10.1016/S0957-4158(00)00008-8. R. Kelly, V. Santibañez Davila, and A. Loria, Control of Robot Manipulators in Joint Space, 2005 ed. Springer, London, 2005. T. S. Lee, E. A. Alandoli, and V. Vijayakumar, “2-DOF robot modelling by SimMechanics and PD-FL integrated controller for position control and trajectory tracking,” F1000Research, vol. 10, pp. 1045, 2021, doi: 10.12688/f1000research.72912.2. F. J. Torres, G. V. Guerrero, C. D. García, J. F. Gomez, M. Adam, and R. F. Escobar, “Master-Slave Synchronization of Robot Manipulators Driven by Induction Motors,” IEEE Latin America Transactions, vol. 14, pp. 3986-3991, 2016, doi: 10.1109/TLA.2016.7785923. N. M. Ghaleb, and A. Ayman, “Modeling and Control of 2-DOF Robot Arm,” International Journal of Emerging Engineering Research and Technology, vol. 6, no. 11, pp. 24-31, 2018. C. S Jeong, J. S. Kim, and S. I. Han, “Tracking Error Constrained Super-twisting Sliding Mode Control for Robotic Systems,” Int. J. Control Autom. Syst, vol. 16, pp. 804–814, 2018, doi: 10.1007/s12555-017-0134-y. M. Baccouch and S. A. Dodds, “Two-Link Robot Manipulator: Simulation and Control Design,” International Journal of Robotic Engineering, vol. 5, pp. 2-17, 2020, doi: 10.35840/2631-5106/4128. H. Hussein Mohammed Al-Almoodi, N. Zainul Azlan, I. Shahdad, and N. Kamarudzaman “Continuous Passive Motion Machine for Elbow Rehabilitation,” International Journal of Robotics and Control Systems, vol. 1, no. 3, pp 402-415, 2021, doi: 10.31763/ijrcs.v1i3.446 . F. G. Salas, J. Orrante-Sakanassi, R. Juarez-del-Toro, and R. P Parada, “A stable proportional–proportional integral tracking controller with self-organizing fuzzy-tuned gains for parallel robots,” International Journal of Advanced Robotic Systems, vol. 16, no. 1, pp 1–16, 2019, doi: 10.1177/1729881418819956. P. Corke, Robotics, Vision and Control, 2nd Edition, Springer International Publishing AG, 2017. G. Goodwin, S. Graebe, and M. Salgado, Control System Design, Pearson Education, 2001. K. Ogata, Ingeniería de Control Moderna. Pearson Education, S.A, Inc. 2010, 5th Edition. A. O’Dwyer, Handbook of PI and PID Controller Tuning Rules, Imperial College Press, 2009. 3th Edition. R. Beltrán Aguedo, A. Lussón Cervantes, J. R. Nuñez Alvarez, and Y. Llosas Albuerne, “Speed control in DC and AC drives,” International Journal of Power Electronics and Drive Systems (IJPEDS), vol. 14, pp. 2006-2017, 2021, doi: 10.11591/ijpeds.v12.i4.pp2006-2017. D. Xue, Y. Chen, and D. Atherton, Linear Feedback Control Analysis and Design with MatLab, Society for Industrial and Applied Mathematics, 1st Edition, 2007, pp. 370. M. Przybyła, M. Kordasz, R. Madoński, P. Herman, and P. Sauer, “Active Disturbance Rejection Control of a 2DOF manipulator with significant modeling uncertainty,” Bulletin of The Polish Academy of Sciences-technical Sciences, vol. 60, pp. 509-520, 2012, doi: 10.2478/v10175-012-0064-z. D. Milanés-Hermosilla, R. Trujillo Codorniú, R. López-Baracaldo, R. Sagaró-Zamora, D. Delisle-Rodriguez, J. J. Villarejo-Mayor, and J. R. Núñez-Álvarez, “Monte Carlo Dropout for Uncertainty Estimation and Motor Imagery Classification,” Sensors, vol. 21, pp. 7241, 2021, doi: 10.3390/s21217241. A. Prasad, B.;Sharma, and J Vanualailai, “A new stabilizing solution for motion planning and control of multiple robots,” Robotica, vol. 34, pp. 1071-1089, 2014, doi: 10.1017/S0263574714002070. W. Qing L. Tao N. Zhuo H. Shoulin R. Xuhui, Z. Dan, and W. Lei, “A generalized control scheme for system uncertainty estimation and cancellation,” Automation in Mechatronic and Robotic Systems, vol. 43, pp. 2921-2933, 2021, doi: 10.1177/01423312211010509. G. Li, L. Pan, Q. Hua, L. Sun, and K. Y. Lee, “Water Pump Control: A Hybrid Data-Driven and Model-Assisted Active Disturbance Rejection Approach,” Water, vol. 11, pp. 1066, 2019, doi: 10.3390/w11051066. Y. Fan, J. Shao, G. Sun, and X. Sha, “Active Disturbance Rejection Control Design Using the Optimization Algorithm for a Hydraulic Quadruped Robot,” Computational Intelligence and Neuroscience, vol. 2021, pp. 1-22, 2021, doi: 10.1155/2021/6683584. D. Milanes Hermosilla, R. Trujillo Codorniu, R. Lopez Baracaldo, R. Sagaro Zamora, D. Delisle Rodriguez, Y. Llosas Albuerne, and J. R. N. Alvarez, “Shallow Convolutional Network Excel for Classifying Motor Imagery EEG in BCI Applications,” IEEE Access, vol. 9, pp. 98275–98286, 2021, doi: 10.1109/ACCESS.2021.3091399. M. Stankovic, R. Madonski, S. Shao, and D. Miklu, “On dealing with harmonic uncertainties in the class of active disturbance rejection controllers,” International Journal of Control, vol. 94, pp. 2795-2810, 2020, doi: 10.1080/00207179.2020.1736639. X. Zhou, Y. Cui, and Y. Ma, “Fuzzy Linear Active Disturbance Rejection Control of Injection Hybrid Active Power Filter for Medium and High Voltage Distribution Network,” IEEE Access, vol. 9, pp. 8421-8432, 2021, doi: 10.1109/ACCESS.2021.3049832. P. Teppa-Garran and G. García, “Optimal Tuning of PI/PID/PID Controllers in Active Disturbance Rejection Control,” Control Engineering and Applied Informatics, vol. 15, pp 26-36, 2013. Z. Gao, “Scaling and Bandwidth-Parameterization Based Controller Tuning,” Proceedings of the 2003 American Control Conference, 2003, pp. 4989-4996, doi: 10.1109/ACC.2003.1242516. G. Herbst, “A Simulative Study on Active Disturbance Rejection Control (ADRC) as a Control Tool for Practitioners,” Electronics, vol. 2, pp. 246–279, 2013. S. Zhao, L. Sun, D. Li and Z. Gao, “Tracking and Disturbance Rejection in Non-minimum Phase Systems,” Proceedings of the 33rd Chinese Control Conference, 2014, pp. 3834-3839, doi: 10.1109/ChiCC.2014.6895578. L. Sun, D. Li, Z. Gao, Z. Yang, and S. Zhao, “Combined feedforward and model-assisted active disturbance rejection control for non-minimum phase system”, ISA Transactions, vol. 64, pp 24-33, 2016, doi: 10.1016/j.isatra.2016.04.020. L. Sun, , G. Li, Q.S. Hua, and Y. Jin, “A hybrid paradigm combining model-based and data-driven methods for fuel cell stack cooling control,” Renewable Energy, vol. 174, Part 1, pp 1642-1652, 2019, doi: 10.1016/j.renene. 2019.09.048. G. Yu. M. Kulikov, and V. Kulikova, “Overall hyperbolic-singular-value-decomposition-based square-root solutions in Kalman filters with deterministically sampled mean and covariance for state estimation in continuous-discrete nonlinear stochastic systems,” European Journal of Control, vol. 66, pp. 100648, 2022, doi: 10.1016/j.ejcon.2022.100648. S. D. Perkasa, P. Megantoro, and H. A. Winarno, “Implementation of a Camera Sensor Pixy 2 CMUcam5 to A Two Wheeled Robot to Follow Colored Object,” Journal of Robotics and Control (JRC), vol. 2, no. 6, pp. 496-501, doi: 10.18196/jrc.26128. B. T. AlKhlidi, A. Abdulsadda, and A. Al Bakri, “Optimal Robotic Path Planning Using Intlligents Search Algorithms,” Journal of Robotics and Control (JRC), vol. 2, no. 6, pp. 519-526, 2021, doi: 10.18196/jrc.26132 K. Gao, J. Song, X. Wang, and H. Li, "Fractional-order proportional-integral-derivative linear active disturbance rejection control design and parameter optimization for hypersonic vehicles with actuator faults," Tsinghua Science and Technology, vol. 26, no. 1, pp. 9-23, 2021, doi: 10.26599/TST.2019.9010041. K. J. Ästrom and T. Hägglund, PID controllers theory, design, and tuning, 2nd Edition, 1995. I. O. Benitez González, R. Rivas Perez, V. Feliu Batlle, and F. Castillo Garcia, “Temperature Control Based on a Modified Smith Predictor for Injectable Drug Formulations,” IEEE Latin America Transactions, vol. 13, no. 4, pp. 1041-1047, 2015, doi: 10.1109/TLA.2015.7106355. L. Peña-Pupo, H. Martínez-García, E. García-Vílchez, E. Y. Fariñas-Wong, and J. R. Núñez-Álvarez, “Combined Method of Flow-Reduced Dump Load for Frequency Control of an Autonomous Micro-Hydropower in AC Microgrids,” Energies, vol. 14, no. 23, pp. 8059, 2021, doi: 10.3390/en14238059 A. W. Shardt, Statistics for Chemical and Process Engineers, Springer International, 2015.
dc.relation.citationendpage.spa.fl_str_mv	632
dc.relation.citationstartpage.spa.fl_str_mv	622
dc.relation.citationissue.spa.fl_str_mv	5
dc.relation.citationvolume.spa.fl_str_mv	3
dc.rights.license.spa.fl_str_mv	Atribución-CompartirIgual 4.0 Internacional (CC BY-SA 4.0)
dc.rights.uri.spa.fl_str_mv	https://creativecommons.org/licenses/by-sa/4.0/
dc.rights.accessrights.spa.fl_str_mv	info:eu-repo/semantics/openAccess
dc.rights.coar.spa.fl_str_mv	http://purl.org/coar/access_right/c_abf2
rights_invalid_str_mv	Atribución-CompartirIgual 4.0 Internacional (CC BY-SA 4.0) https://creativecommons.org/licenses/by-sa/4.0/ http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv	openAccess
dc.format.extent.spa.fl_str_mv	11 Páginas
dc.format.mimetype.spa.fl_str_mv	application/pdf
dc.publisher.spa.fl_str_mv	Department of Electrical Engineering, Universitas Muhammadiyah Yogyakarta
dc.publisher.place.spa.fl_str_mv	Indonesia
dc.source.spa.fl_str_mv	https://journal.umy.ac.id/index.php/jrc/article/view/14791
institution	Corporación Universidad de la Costa
bitstream.url.fl_str_mv	https://repositorio.cuc.edu.co/bitstream/11323/10913/1/Active%20Disturbance%20Rejection%20Control%20for%20Robot%20Manipulator.pdf https://repositorio.cuc.edu.co/bitstream/11323/10913/2/license.txt https://repositorio.cuc.edu.co/bitstream/11323/10913/3/Active%20Disturbance%20Rejection%20Control%20for%20Robot%20Manipulator.pdf.txt https://repositorio.cuc.edu.co/bitstream/11323/10913/4/Active%20Disturbance%20Rejection%20Control%20for%20Robot%20Manipulator.pdf.jpg
bitstream.checksum.fl_str_mv	84328db4f44719032a3f1e60844df446 2f9959eaf5b71fae44bbf9ec84150c7a 0cad9c42d54ffdab9eb7a34e2b619155 07b5cbc8b017310945cfa7166a9859a2
bitstream.checksumAlgorithm.fl_str_mv	MD5 MD5 MD5 MD5
repository.name.fl_str_mv	Repositorio Universidad de La Costa
repository.mail.fl_str_mv	repdigital@cuc.edu.co
_version_	1808400096973291520
spelling	Atribución-CompartirIgual 4.0 Internacional (CC BY-SA 4.0)https://creativecommons.org/licenses/by-sa/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Martínez Ochoa, Carlos E. c378298c626f7743cd01931d354904b9600Benítez González, Ivón Oristelae8b8cdad8f809a54a22b408cdb551a9a600Cepero Díaz, Ariel Omard741cbd1a1d0f39353af49055dbdd440600Nuñez-Alvarez, José R.96ce96f80bd288bf4a6f1fbf64ed3debMiguélez-Machado, Carlos G.39aed367e7cb95eecb0a006209615957Llosas Albuerne, Yolandafaa37e0c3a1710ad4144cd205b3db0ec6002024-03-21T14:55:48Z2024-03-21T14:55:48Z20222715-5056https://hdl.handle.net/11323/1091310.18196/jrc.v3i5.147912715-5072Corporación Universidad de la CostaREDICUC – Repositorio CUChttps://repositorio.cuc.edu.co/Active Disturbance Rejection Control (ADRC) is a control methodology used in chemical processes, aircraft, motors, and other systems. This paper compares the results of an ADRC controller to a Proportional Integral Derivative controller (PID), applied to two degrees of freedom robots. A Linear Extended State Observer (LESO) is used to reconstruct the state variables and unknown parameters needed to control the position of each link. The ADRC can achieve the tracking position and estimate the velocity of each link. The results of the simulation program are shown.11 Páginasapplication/pdfengDepartment of Electrical Engineering, Universitas Muhammadiyah YogyakartaIndonesiahttps://journal.umy.ac.id/index.php/jrc/article/view/14791Active disturbance rejection control for robot manipulatorArtículo de revistahttp://purl.org/coar/resource_type/c_2df8fbb1Textinfo:eu-repo/semantics/articlehttp://purl.org/redcol/resource_type/ARTinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/version/c_970fb48d4fbd8a85Journal of Robotics and Control (JRC)J. Gong, W. Wei, G. Cai, Y. Liu, and X. Peng, “Kinematic Performance Analysis of a Controllable Mechanism Welding Robot with Joint Clearance,” MATEC Web of Conferences, vol. 327, pp. 03006. 2020, doi: 10.1051/matecconf/202032703006.B. Altiner, A. Delibasxi, and B. Erol, “Modeling and control of flexible link manipulators for unmodeled dynamics effect. Journal Systems and Control Engineering,” Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, vol. 233, pp. 245-263, 2019, doi: 10.1177/0959651818791071.A. AlAttar and P. Kormushev, “Kinematic-Model-Free Orientation Control for Robot Manipulation Using Locally Weighted Dual Quaternions,” Robotics, vol. 9, pp. 76, 2020, doi: 10.3390/robotics9040076.K. Pasha, “A suggested simple design and inverse kinematics for a multi-degrees-of-freedom robot arm,” International Robotics & Automation Journal, vol. 7, pp. 103‒110, 2021, doi: 10.15406/iratj.2021.07.00234.B. Chen and J. Huang, “Decreasing infinite-mode vibrations in single-link flexible manipulators by a continuous function,” Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, vol. 231, pp. 436-446, 2017, doi: 10.1177/0959651817708489.X. Cheng, X. Tu, Y. Zhou, and R. Zhou, “Active Disturbance Rejection Control of Multi-Joint Industrial Robots Based on Dynamic Feedforward,” Electronics, vol. 8, pp. 591, 2019, doi: 10.3390/electronics8050591.A. J. Humaidi, H. M. Badr, and A. R. Ajil, “Design of Active Disturbance Rejection Control for Single-Link Flexible Joint Robot Manipulator,” 2018 22nd International Conference on System Theory, Control and Computing (ICSTCC), pp. 452-457, 2018, doi: 10.1109/ICSTCC.2018.8540652.X. Wenchao, R. Madoński, K. Łakomy, and Z. Gao, “Add-On Module of Active Disturbance Rejection for Set-Point Tracking of Motion Control Systems,” IEEE Transactions on Industry Applications, vol. 53, pp. 4028-4040, 2017, doi: 10.1109/TIA.2017.2677360.J. Han, “From PID to Active Disturbance Rejection Control,” IEEE Transactions on Industrial Electronics, vol. 56, pp. 900-906, 2019, doi: 10.1109/TIE.2008.2011621.G. Zhiqiang, “Active disturbance rejection control: a paradigm shift in feedback control system design," 2006 American Control Conference, vol. 7, 2006, doi: 10.1109/ACC.2006.1656579.R. Fareh, M. Al-Shabi, M. Bettayeb, and J. Ghommam, “Robust Active Disturbance Rejection Control for Flexible Link Manipulator,” Robotica, vol. 38, no. 1, pp. 1-18, 2019, doi: 10.1017/S026357471900050X.Y. Huang, W. Xue, G. Zhiqiang, H. Sira-Ramirez, D. Wu, and M. Sun, “Active disturbance rejection control: Methodology, practice and analysis,” Proceedings of the 33rd Chinese Control Conference, pp. 1-5, 2014, doi: 10.1109/ChiCC.2014.6896585.L. Sun, J. Dong, and K. Lee, “A Practical Multivariable Control Approach Based on Inverted Decoupling and Decentralized Active Disturbance Rejection Control,” American Chemical Society, vol. 55, no. 7, pp. 2008-2019, 2016, doi: 10.1021/acs.iecr.5b03738.C. Wang, J. Huang, C. Wang, and R. Wu, “Dynamic Surface-Active Disturbance Rejection Control for Two-Wheeled Self-Balancing Robot,” ICRCA '18: Proceedings of the 3rd International Conference on Robotics, Control and Automation, pp. 82–87, 2018, doi: 10.1145/3265639.3265645.H. Coral-Enriquez and S. Pulido-Guerrero, “Sway reduction in tower-cranes through discrete-time resonant active disturbance rejection control,” 2017, vol. 85, pp. 65-75, 2017, DOI: doi: 10.15446/dyna.v85n204.63245.Z. Zhou, S. B. Elghali, M. Benbouzid, Y. Amirat, E. Elbouchikhi, and G. Feld, “Tidal stream turbine control: An active disturbance rejection control approach,” Ocean Engineering, vol. 202, pp. 107190, 2020, doi: 10.1016/j.oceaneng.2020.107190.B. Sánchez-García, F. Reyes-Cortés, B. M. Al-Hadithi, and Olga Félix-Beltrán “Global Saturated Regulator with Variable Gains for Robot Manipulators”, Journal of Robotics and Control (JRC), vol. 2, no. 6, pp 571-581, 2021, doi: 10.18196/jrc.26139.F. Reyes and R. Kelly, “Experimental evaluation of model-based controllers on a direct-drive robot arm”, Mechatronics, vol. 11, pp 267-282, 2001, doi: 10.1016/S0957-4158(00)00008-8.R. Kelly, V. Santibañez Davila, and A. Loria, Control of Robot Manipulators in Joint Space, 2005 ed. Springer, London, 2005.T. S. Lee, E. A. Alandoli, and V. Vijayakumar, “2-DOF robot modelling by SimMechanics and PD-FL integrated controller for position control and trajectory tracking,” F1000Research, vol. 10, pp. 1045, 2021, doi: 10.12688/f1000research.72912.2.F. J. Torres, G. V. Guerrero, C. D. García, J. F. Gomez, M. Adam, and R. F. Escobar, “Master-Slave Synchronization of Robot Manipulators Driven by Induction Motors,” IEEE Latin America Transactions, vol. 14, pp. 3986-3991, 2016, doi: 10.1109/TLA.2016.7785923.N. M. Ghaleb, and A. Ayman, “Modeling and Control of 2-DOF Robot Arm,” International Journal of Emerging Engineering Research and Technology, vol. 6, no. 11, pp. 24-31, 2018.C. S Jeong, J. S. Kim, and S. I. Han, “Tracking Error Constrained Super-twisting Sliding Mode Control for Robotic Systems,” Int. J. Control Autom. Syst, vol. 16, pp. 804–814, 2018, doi: 10.1007/s12555-017-0134-y.M. Baccouch and S. A. Dodds, “Two-Link Robot Manipulator: Simulation and Control Design,” International Journal of Robotic Engineering, vol. 5, pp. 2-17, 2020, doi: 10.35840/2631-5106/4128.H. Hussein Mohammed Al-Almoodi, N. Zainul Azlan, I. Shahdad, and N. Kamarudzaman “Continuous Passive Motion Machine for Elbow Rehabilitation,” International Journal of Robotics and Control Systems, vol. 1, no. 3, pp 402-415, 2021, doi: 10.31763/ijrcs.v1i3.446 .F. G. Salas, J. Orrante-Sakanassi, R. Juarez-del-Toro, and R. P Parada, “A stable proportional–proportional integral tracking controller with self-organizing fuzzy-tuned gains for parallel robots,” International Journal of Advanced Robotic Systems, vol. 16, no. 1, pp 1–16, 2019, doi: 10.1177/1729881418819956.P. Corke, Robotics, Vision and Control, 2nd Edition, Springer International Publishing AG, 2017.G. Goodwin, S. Graebe, and M. Salgado, Control System Design, Pearson Education, 2001.K. Ogata, Ingeniería de Control Moderna. Pearson Education, S.A, Inc. 2010, 5th Edition.A. O’Dwyer, Handbook of PI and PID Controller Tuning Rules, Imperial College Press, 2009. 3th Edition.R. Beltrán Aguedo, A. Lussón Cervantes, J. R. Nuñez Alvarez, and Y. Llosas Albuerne, “Speed control in DC and AC drives,” International Journal of Power Electronics and Drive Systems (IJPEDS), vol. 14, pp. 2006-2017, 2021, doi: 10.11591/ijpeds.v12.i4.pp2006-2017.D. Xue, Y. Chen, and D. Atherton, Linear Feedback Control Analysis and Design with MatLab, Society for Industrial and Applied Mathematics, 1st Edition, 2007, pp. 370.M. Przybyła, M. Kordasz, R. Madoński, P. Herman, and P. Sauer, “Active Disturbance Rejection Control of a 2DOF manipulator with significant modeling uncertainty,” Bulletin of The Polish Academy of Sciences-technical Sciences, vol. 60, pp. 509-520, 2012, doi: 10.2478/v10175-012-0064-z.D. Milanés-Hermosilla, R. Trujillo Codorniú, R. López-Baracaldo, R. Sagaró-Zamora, D. Delisle-Rodriguez, J. J. Villarejo-Mayor, and J. R. Núñez-Álvarez, “Monte Carlo Dropout for Uncertainty Estimation and Motor Imagery Classification,” Sensors, vol. 21, pp. 7241, 2021, doi: 10.3390/s21217241.A. Prasad, B.;Sharma, and J Vanualailai, “A new stabilizing solution for motion planning and control of multiple robots,” Robotica, vol. 34, pp. 1071-1089, 2014, doi: 10.1017/S0263574714002070.W. Qing L. Tao N. Zhuo H. Shoulin R. Xuhui, Z. Dan, and W. Lei, “A generalized control scheme for system uncertainty estimation and cancellation,” Automation in Mechatronic and Robotic Systems, vol. 43, pp. 2921-2933, 2021, doi: 10.1177/01423312211010509.G. Li, L. Pan, Q. Hua, L. Sun, and K. Y. Lee, “Water Pump Control: A Hybrid Data-Driven and Model-Assisted Active Disturbance Rejection Approach,” Water, vol. 11, pp. 1066, 2019, doi: 10.3390/w11051066.Y. Fan, J. Shao, G. Sun, and X. Sha, “Active Disturbance Rejection Control Design Using the Optimization Algorithm for a Hydraulic Quadruped Robot,” Computational Intelligence and Neuroscience, vol. 2021, pp. 1-22, 2021, doi: 10.1155/2021/6683584.D. Milanes Hermosilla, R. Trujillo Codorniu, R. Lopez Baracaldo, R. Sagaro Zamora, D. Delisle Rodriguez, Y. Llosas Albuerne, and J. R. N. Alvarez, “Shallow Convolutional Network Excel for Classifying Motor Imagery EEG in BCI Applications,” IEEE Access, vol. 9, pp. 98275–98286, 2021, doi: 10.1109/ACCESS.2021.3091399.M. Stankovic, R. Madonski, S. Shao, and D. Miklu, “On dealing with harmonic uncertainties in the class of active disturbance rejection controllers,” International Journal of Control, vol. 94, pp. 2795-2810, 2020, doi: 10.1080/00207179.2020.1736639.X. Zhou, Y. Cui, and Y. Ma, “Fuzzy Linear Active Disturbance Rejection Control of Injection Hybrid Active Power Filter for Medium and High Voltage Distribution Network,” IEEE Access, vol. 9, pp. 8421-8432, 2021, doi: 10.1109/ACCESS.2021.3049832.P. Teppa-Garran and G. García, “Optimal Tuning of PI/PID/PID Controllers in Active Disturbance Rejection Control,” Control Engineering and Applied Informatics, vol. 15, pp 26-36, 2013.Z. Gao, “Scaling and Bandwidth-Parameterization Based Controller Tuning,” Proceedings of the 2003 American Control Conference, 2003, pp. 4989-4996, doi: 10.1109/ACC.2003.1242516.G. Herbst, “A Simulative Study on Active Disturbance Rejection Control (ADRC) as a Control Tool for Practitioners,” Electronics, vol. 2, pp. 246–279, 2013.S. Zhao, L. Sun, D. Li and Z. Gao, “Tracking and Disturbance Rejection in Non-minimum Phase Systems,” Proceedings of the 33rd Chinese Control Conference, 2014, pp. 3834-3839, doi: 10.1109/ChiCC.2014.6895578.L. Sun, D. Li, Z. Gao, Z. Yang, and S. Zhao, “Combined feedforward and model-assisted active disturbance rejection control for non-minimum phase system”, ISA Transactions, vol. 64, pp 24-33, 2016, doi: 10.1016/j.isatra.2016.04.020.L. Sun, , G. Li, Q.S. Hua, and Y. Jin, “A hybrid paradigm combining model-based and data-driven methods for fuel cell stack cooling control,” Renewable Energy, vol. 174, Part 1, pp 1642-1652, 2019, doi: 10.1016/j.renene. 2019.09.048.G. Yu. M. Kulikov, and V. Kulikova, “Overall hyperbolic-singular-value-decomposition-based square-root solutions in Kalman filters with deterministically sampled mean and covariance for state estimation in continuous-discrete nonlinear stochastic systems,” European Journal of Control, vol. 66, pp. 100648, 2022, doi: 10.1016/j.ejcon.2022.100648.S. D. Perkasa, P. Megantoro, and H. A. Winarno, “Implementation of a Camera Sensor Pixy 2 CMUcam5 to A Two Wheeled Robot to Follow Colored Object,” Journal of Robotics and Control (JRC), vol. 2, no. 6, pp. 496-501, doi: 10.18196/jrc.26128.B. T. AlKhlidi, A. Abdulsadda, and A. Al Bakri, “Optimal Robotic Path Planning Using Intlligents Search Algorithms,” Journal of Robotics and Control (JRC), vol. 2, no. 6, pp. 519-526, 2021, doi: 10.18196/jrc.26132K. Gao, J. Song, X. Wang, and H. Li, "Fractional-order proportional-integral-derivative linear active disturbance rejection control design and parameter optimization for hypersonic vehicles with actuator faults," Tsinghua Science and Technology, vol. 26, no. 1, pp. 9-23, 2021, doi: 10.26599/TST.2019.9010041.K. J. Ästrom and T. Hägglund, PID controllers theory, design, and tuning, 2nd Edition, 1995.I. O. Benitez González, R. Rivas Perez, V. Feliu Batlle, and F. Castillo Garcia, “Temperature Control Based on a Modified Smith Predictor for Injectable Drug Formulations,” IEEE Latin America Transactions, vol. 13, no. 4, pp. 1041-1047, 2015, doi: 10.1109/TLA.2015.7106355.L. Peña-Pupo, H. Martínez-García, E. García-Vílchez, E. Y. Fariñas-Wong, and J. R. Núñez-Álvarez, “Combined Method of Flow-Reduced Dump Load for Frequency Control of an Autonomous Micro-Hydropower in AC Microgrids,” Energies, vol. 14, no. 23, pp. 8059, 2021, doi: 10.3390/en14238059A. W. Shardt, Statistics for Chemical and Process Engineers, Springer International, 2015.63262253ADCRControlDisturbanceObserverRobotORIGINALActive Disturbance Rejection Control for Robot Manipulator.pdfActive Disturbance Rejection Control for Robot Manipulator.pdfArtículoapplication/pdf743628https://repositorio.cuc.edu.co/bitstream/11323/10913/1/Active%20Disturbance%20Rejection%20Control%20for%20Robot%20Manipulator.pdf84328db4f44719032a3f1e60844df446MD51open accessLICENSElicense.txtlicense.txttext/plain; charset=utf-814828https://repositorio.cuc.edu.co/bitstream/11323/10913/2/license.txt2f9959eaf5b71fae44bbf9ec84150c7aMD52open accessTEXTActive Disturbance Rejection Control for Robot Manipulator.pdf.txtActive Disturbance Rejection Control for Robot Manipulator.pdf.txtExtracted texttext/plain43885https://repositorio.cuc.edu.co/bitstream/11323/10913/3/Active%20Disturbance%20Rejection%20Control%20for%20Robot%20Manipulator.pdf.txt0cad9c42d54ffdab9eb7a34e2b619155MD53open accessTHUMBNAILActive Disturbance Rejection Control for Robot Manipulator.pdf.jpgActive Disturbance Rejection Control for Robot Manipulator.pdf.jpgGenerated Thumbnailimage/jpeg17623https://repositorio.cuc.edu.co/bitstream/11323/10913/4/Active%20Disturbance%20Rejection%20Control%20for%20Robot%20Manipulator.pdf.jpg07b5cbc8b017310945cfa7166a9859a2MD54open access11323/10913oai:repositorio.cuc.edu.co:11323/109132024-03-22 03:02:06.293An error occurred on the license name.\|\|\|https://creativecommons.org/licenses/by-sa/4.0/open accessRepositorio Universidad de La Costarepdigital@cuc.edu.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0000-0003-4161-6330c378298c626f7743cd01931d354904b96000000-0002-1096-305Xe8b8cdad8f809a54a22b408cdb551a9a6000000-0001-9571-6527d741cbd1a1d0f39353af49055dbdd4406000000-0002-5713-0565faa37e0c3a1710ad4144cd205b3db0ec600

Active disturbance rejection control for robot manipulator

Publicaciones similares