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

Author

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  • Cheng Liu
  • Yanming Cheng
  • Dejun Liu
  • Guohua Cao
  • Ilkyoo Lee

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.

Suggested Citation

  • Cheng Liu & Yanming Cheng & Dejun Liu & Guohua Cao & Ilkyoo Lee, 2020. "Research on a LADRC Strategy for Trajectory Tracking Control of Delta High-Speed Parallel Robots," Mathematical Problems in Engineering, Hindawi, vol. 2020, pages 1-12, August.
    • Handle: RePEc:hin:jnlmpe:9681530
    DOI: 10.1155/2020/9681530
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    Cited by:

    1. Miao Zhang & Keyu Zhuang & Tong Zhao & Xianli Chen & Jingze Xue & Zheng Qiao & Shuai Cui & Yunlong Gao, 2022. "Bus Voltage Control of Photovoltaic Grid Connected Inverter Based on Adaptive Linear Active Disturbance Rejection," Energies, MDPI, vol. 15(15), pages 1-20, July.
    2. Miao Zhang & Keyu Zhuang & Tong Zhao & Jingze Xue & Yunlong Gao & Shuai Cui & Zheng Qiao, 2022. "MPPT Control Algorithm Based on Particle Swarm Optimization and Adaptive Linear Active Disturbance Rejection Control," Energies, MDPI, vol. 15(23), pages 1-19, November.

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