Design of Passive Active Disturbance Rejection Controller for Trajectory Tracking of Mobile Manipulator
In order to improve the force/position tracking control accuracy of omni-directional mobile manipulator,a passive ac-tive disturbance rejection controller is designed.The working principle of omni-directional mobile manipulator is introduced,and the dynamic equation of mobile manipulator system is established based on Lagrange equation.According to the strict definition of passive system,the passive characteristics of omni-directional mobile manipulator system are proved.Based on ADRC,the ex-tended state observer is improved by defining new variables;According to the passive characteristics of the manipulator system,a passive active disturbance rejection controller is designed.The simulation results show that the disturbance estimation error of the improved extended state observer is much less than that of the traditional extended state observer,and the estimation speed is faster than that of the traditional extended state observer.The tracking cumulative absolute error of passive ADRC is much less than that of traditional ADRC,which shows that the control accuracy of passive ADRC is higher than that of traditional ADRC.The simulation results prove the high precision and superiority of passive ADRC in the control of omni-directional mobile manipulator.
Omnidirectional Mobile ManipulatorForce/Position TrackingPassive ControlActive Disturbance Rejection ControlExtended State Observer
NETL
NSTL
万方数据
维普
