Trajectory Tracking Control of Robot Manipulators Based on Feedforward LADRC
Aiming at the problem that the trajectory tracking accuracy of the robot manipulator is affected by system coupling,parameter uptake and external interference,a trajectory tracking control method of the robot manipulator based on feedfor-ward LADRC is proposed.The dynamics model of the tandem 2-DOF robot manipulator is established,the trajectory tracking control system based on feedforward LADRC is designed.And the performance of the control system is simulated,analyzed and experimentally verified by introducing the reference angular acceleration feedforward of ADRC.The results show that the proposed controller can significantly improve the trajectory tracking control accuracy of the robot manipulator compared with the traditional LADRC,and the system uncertain parameters have strong robustness.
feedforward LADRCrobot manipulatoruncertain parametertrajectory trackingdecoupling control
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