Fractional-Order Active Disturbance Rejection Controller for Motion Control of a Novel 6-DOF Parallel Robot
Joint Authors
Gao, Fangzheng
Shi, Xinxin
Huang, Jiacai
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-7, 7 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-12-29
Country of Publication
Egypt
No. of Pages
7
Main Subjects
Abstract EN
A novel 6-degree-of-freedom (6-DOF) parallel robot driven by six novel linear motors is designed and controlled in this paper.
Detailed structures of linear motors are illustrated.
A control strategy based on kinematics of the 6-DOF parallel robot is used, and six linear motors are controlled to track their own desired trajectories under a designed fractional-order active disturbance rejection controller (FOADRC).
Compared with the normal ADRC, two desired trajectories and three different working situations of a linear motor are simulated to show good performances of the FOADRC.
Experimental results show that six linear motors can track their own desired trajectories accurately under payloads and disturbances, and the novel 6-DOF parallel robot can be controlled well.
American Psychological Association (APA)
Shi, Xinxin& Huang, Jiacai& Gao, Fangzheng. 2020. Fractional-Order Active Disturbance Rejection Controller for Motion Control of a Novel 6-DOF Parallel Robot. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-7.
https://search.emarefa.net/detail/BIM-1194554
Modern Language Association (MLA)
Shi, Xinxin…[et al.]. Fractional-Order Active Disturbance Rejection Controller for Motion Control of a Novel 6-DOF Parallel Robot. Mathematical Problems in Engineering No. 2020 (2020), pp.1-7.
https://search.emarefa.net/detail/BIM-1194554
American Medical Association (AMA)
Shi, Xinxin& Huang, Jiacai& Gao, Fangzheng. Fractional-Order Active Disturbance Rejection Controller for Motion Control of a Novel 6-DOF Parallel Robot. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-7.
https://search.emarefa.net/detail/BIM-1194554
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1194554