Active Disturbance Rejection Robust Hamiltonian Tracking Control of Electrically Driven Manipulator

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Active Disturbance Rejection Robust Hamiltonian Tracking Control of Electrically Driven Manipulator

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[1]ZENG Qingshan,ZHOU Yashuai,TAO Changchun,et al.Active Disturbance Rejection Robust Hamiltonian Tracking Control of Electrically Driven Manipulator[J].Journal of Zhengzhou University (Engineering Science),2022,43(04):1-7.[doi:10.13705/j.issn.1671-6833.2022.04.017]

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Journal of Zhengzhou University (Engineering Science)[ISSN 1671-6833/CN 41-1339/T] Volume: 43卷 Number of periods: 2022 04 Page number: 1-7 Column: Public date: 2022-07-03

Title:: Active Disturbance Rejection Robust Hamiltonian Tracking Control of Electrically Driven Manipulator

Author(s):: ZENG Qingshan; ZHOU Yashuai; TAO Changchun; LIU Yanhong; School of Electrical Engineering,Zhengzhou University,Zhengzhou 450001,China

Keywords:: electrically driven manipulator; tracking control; port Hamilton system; active disturbance rejection control; robust control

CLC:: TP391. 4

DOI:: 10.13705/j.issn.1671-6833.2022.04.017

Abstract:: Aiming to solve the position tracking problem of permanent magnet synchronous motor driven manipulator system,a robust control strategy combining active disturbance rejection control and Hamiltonian control was proposed.Firstly,the electrical subsystem and mechanical subsystem model considering uncertainty were established,and the model was transformed into a single-motor-driven single-joint port Hamiltonian structure according to the independent joint control idea.Then,the cascaded extended state observer was designed to estimate the total disturbance of the mechanical subsystem,and the designed control law achieved robust tracking of the desired position while simply and efficiently obtaining the desired q-axis current.Finally,a robust Hamiltonian controller which could combine the interconnections and damping assignment Hamiltonian controller with the H∞ controller based on the system Hamiltonian structure was designed to achieve high precision robust current tracking,and improves the problem of large initial control input by improving the timing of introducing H∞. Compared with modelless active disturbance rejection control of the electrically driven robot manipulators,the simulation results verified the effectiveness of the proposed control scheme.Compared with traditional ESO,the joint position tracking accuracy of the cascaded ESO could be improved by 0.003 rad.Compared with the Hamiltonian controller,the joint position tracking accuracy of the improved robust Hamiltonian controller was improved by 0.005 rad,the current tracking accuracy was significantly improved,and the initial control input of the improved H∞ introduction timing was significantly reduced.

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Last Update: 2022-07-03