Type: Conference paper
Implementation of Active Disturbance Rejection Control based on Super-Twisting Algorithm on Delta Robot
Journal: 2025 29th International Computer Conference, Computer Society of Iran, CSICC 2025 ()Year: 2022Volume: Issue: Pages: 539 - 545
DOI:10.1109/ICRoM57054.2022.10025271Language: English
Abstract
In this article, a super-twisting algorithm-based ADRC structure is proposed. This structure contains three parts, a super twisting sliding mode controller, an extended state estimator, and an optimal tracking differentiator. This proposed ADRC is employed to control the Delta parallel robot both numerically, in MATLAB, and experimentally. In numerical simulations, the robustness of the proposed ADRC is verified by applying various external disturbances. Both the numerical and experimental results show the ability of the proposed ADRC structure in controlling the Delta robot in the presence of disturbances and uncertainties. © 2022 IEEE.
Author Keywords
Active Disturbance Rejection ControlDelta RobotOptimal Tracking differentiatorSuper-Twisting Algorithm
Other Keywords
Disturbance rejectionRobotsSliding mode controlActive disturbances rejection controlsDelta parallel robotDelta robotOptimal trackingOptimal tracking differentiatorSliding mode controllerState EstimatorsSuper twisting algorithmSuper- twistingTracking differentiatorsMATLAB