Active Disturbance Rejection Control of Flexible Joint System
摘要
This paper presents an ADRC controller designed for a single link manipulator model, considering torsional vibrations in industrial robots. A fourth model is introduced to capture the complex dynamics. The ADRC successfully tracks desired trajectories despite non-linearity, uncertainties, and disturbances. Linear and nonlinear extended-state observers (ESOs) estimate and compensate for uncertainties. The control law is derived from the ESO by configuring the observer gain. Simulation results demonstrate the superior control performance of ADRC compared to PID, analyzing step and sinusoidal signals on the flexible joint system.