Fractional-Order Active Disturbance Rejection Controller for Motion Control of a Novel 6-DOF Parallel Robot

Shi Xinxin; Huang Jiacai; Gao Fangzheng

首页> 外文期刊>Mathematical Problems in Engineering: Theory, Methods and Applications >Fractional-Order Active Disturbance Rejection Controller for Motion Control of a Novel 6-DOF Parallel Robot

【24h】

Fractional-Order Active Disturbance Rejection Controller for Motion Control of a Novel 6-DOF Parallel Robot

机译：Fractional-Order Active Disturbance Rejection Controller for Motion Control of a Novel 6-DOF Parallel Robot

获取原文

获取原文并翻译 | 示例

掌桥外文数据库（机构版） >>

开具论文收录证明 >>

文献代查 >>

页面导航

摘要
著录项
相关主题

摘要

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.

著录项

来源
《Mathematical Problems in Engineering: Theory, Methods and Applications》 |2020年第46期|3657848.1-3657848.7|共7页
作者
Shi Xinxin; Huang Jiacai; Gao Fangzheng;
展开▼
作者单位

Nanjing Inst Technol, Sch Automat, 1 Hongjing Rd, Nanjing 211167, Peoples R China;

Nanjing Inst Technol, Ind Ctr, 1 Hongjing Rd, Nanjing 211167, Peoples R China;

展开▼
收录信息
原文格式 PDF
正文语种英语
中图分类
关键词

Fractional-Order Active Disturbance Rejection Controller for Motion Control of a Novel 6-DOF Parallel Robot

摘要

著录项

相关主题

期刊订阅