Control method based on nonlinear extended state observer to tracking the trajectory for mechanical arm

机译：基于非线性扩展状态观测器跟踪机械臂轨迹的控制方法

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摘要

In this paper we propose a novel control based on nonlinear extended state observer, which can effectively control the industrial manipulator system with interference and delay, and the interference delay in the system can be estimated and compensated online by this algorithm. The output of the system can track the trajectory stably. The response time is shorter and the steady-state error is smaller than the controller which is used to be.

机译：在本文中，我们提出了一种基于非线性扩展状态观察的新颖控制，可以有效地控制具有干扰和延迟的工业机械手系统，并且可以通过该算法在线估计系统中的干扰延迟。系统的输出可以稳定地跟踪轨迹。响应时间较短，稳态误差小于常用的控制器。

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《IEEE Advanced Information Technology, Electronic and Automation Control Conference》|2021年|673-677|共5页
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Zeyang Zheng; Xiju Zong;
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关键词
Interference; Observers; Regulation; Trajectory; Steady-state; Delays; Time factors;

机译：干扰;观察者;调节;轨迹;稳态;延迟;时间因素;

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1. Trajectory tracking control for wheeled mobile robots based on nonlinear disturbance observer with extended Kalman filter [J] . Li Li, Wang Tianqi, Xia Yuanqing, Journal of the Franklin Institute . 2020,第13期

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2. Trajectory tracking control for double-joint manipulator systems driven by pneumatic artificial muscles based on a nonlinear extended state observer [J] . Zhao Ling, Liu Xin, Wang Tao Mechanical systems and signal processing . 2019,第MAY1期

机译：基于非线性扩展状态观测器的气动人工肌肉驱动双关节机械手系统轨迹跟踪控制
3. Extended State Observer Fuzzy-Approximation-Based Active Disturbances Rejection Control Method for Humanoid Robot with Trajectory Tracking [J] . Bai Keqiang, Chen Yao, Liu Zhigui, International journal of humanoid robotics . 2020,第4期

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4. EXTENDED STATE OBSERVER BASED ASCENT TRAJECTORY TRACKING METHOD [C] . Wenming Nie, Huifeng Li, Ran Zhang, ASME/IEEE international conference on mechatronic and embedded systems and applications;ASME international design engineering technical conferences and computers and information in engineering conference . 2017

机译：基于扩展状态观测器的上升轨迹跟踪方法
5. Tracking control of nonlinear mechanical systems using Fourier series based learning control. [D] . Huang, Weiqing. 2000

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6. Trajectory Tracking Control for Flexible-Joint Robot Based on Extended Kalman Filter and PD Control [O] . Tianyu Ma, Zhibin Song, Zhongxia Xiang, 2019

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7. A reduced-order extended state observer–based trajectory tracking control for one-degree-of-freedom pneumatic manipulator [O] . Ling Zhao, Xin Liu, Tao Wang, 2018

机译：一种自由度气动操纵器的减少的扩展状态观察者轨迹跟踪控制

Control method based on nonlinear extended state observer to tracking the trajectory for mechanical arm

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