Research on a LADRC Strategy for Trajectory Tracking Control of Delta High-Speed Parallel Robots

Abstract

In order to better track the planned trajectory of Delta high-speed parallel robot, this paper proposes a dynamics control strategy for Delta high-speed parallel robots based on the linear active disturbance rejection control (LADRC) strategy which realizes decoupling control through observing and compensating the coupling and internal and external disturbances between the three joints. Firstly, the structure and dynamics model of the Delta high-speed parallel robot are analyzed, respectively. Secondly, the control scheme of the Delta high-speed parallel robot dynamic LADRC strategy is constructed, and then, the system stability is analyzed. Taking a representative 8-shaped space helical variance trajectory as a given input of the system and a triangular wave as an external disturbance as given disturbance input of the system, simulations are carried out to demonstrate the effectiveness of the proposed LADRC strategy; results indicate that the system with the LADRC strategy has a good quick and precise real-time trajectory tracking and strong robustness.

Fuzzy active disturbance rejection control method for an omnidirectional mobile robot with MY3 wheel

“…For example, path-following control of AUV based on LADRC was highly robust to internal and external disturbances caused by factors such as changes in system parameters (Lamraoui and Zhu, 2018). Liu et al (2020) applied LADRC to the dynamic control of a Delta high-speed parallel robot and demonstrated that the robot has fast and accurate tracking performance at high speeds without being affected by the uncertainties of the system. But LADRC reduces part of the control performance while the parameters are simplified.…”

Speed tracking control of high-speed train based on adaptive control and linear active disturbance rejection control

“…The results show that compared with the proportional–integral controller, the grid-connected inverter using LADRC has better adaptability, robustness, and dynamic performance to the weak power grid. In Liu et al (2020), LADRC is proposed to solve the problem of accurately tracking the planned trajectory of delta high-speed parallel robots. The internal coupling and disturbance of the robot are observed and compensated by the state observer to solve the problem of strong couplings in the system.…”

Robot automatic path-finding algorithm based on computer vision and neural network model

“…As a new tool of operation, production and service in today's society, it plays an important role in saving labor, optimizing production mode and improving the efficiency of economic development, and greatly reduces the danger in some special types of work 4 . According to different fields, the problem background and application scenarios faced by robots are different, but in the process of motion control of mobile robots in any application scenario, it is necessary to ensure that mobile robots can track a given trajectory or target quickly and stably in the process of motion so as to realize real-time trajectory tracking control 5 .…”