Control Strategy of 6-DOF Manipulator based on Improved Active Disturbance Rejection Control

Aiming at the problems of high coupling, parameter uncertainty and external environment interference in practical applications of six degrees of freedom manipulator, a control strategy based on improved active disturbance rejection control was proposed. Firstly, in order to improve the response speed of the system, the sliding mode control tracking differentiator (SMC-TD) is designed based on the synovial theory.In order to reduce the system jitter, the new sliding mode function is used to improve the sliding mode control law, which reduces the system jitter and improves the system response speed. Secondly, the han function is constructed to realize the design of continuous smooth extended state observer, and the improved fractional extended state observer (FO-ESO) is designed in combination with fractional calculus, which enhances the anti-interference ability of the system. Finally, combined with the traditional nonlinear error feedback control law (NLSEF), an improved active disturbance rejection controller was built, and different control strategies were used to compare the six degrees of freedom manipulator in the same environment. The experimental results show that the controller has good control effect and anti-disturbance robustness, which proves the effectiveness of the proposed method.