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Tip-position/velocity Tracking Control of Manipulator for Hull Derusting and Spray Painting based on Active Disturbance Rejection Control
저자
Zhong Wang, Xiao
학술지명
International Journal of Control, Automation, and Systems
출판/발행연도
2018
주제
요약
본 연구는 선체 청소 및 스프레이 페인팅 작업 시 조작기의 위치/속도 추적 성능을 향상시키기 위해 액티브 디스터번스 리젝션 제어(ADRC) 기반의 새로운 제어 전략을 제안합니다. 굴절 보상을 고려한 위치 피드포워드 제어와 확장 상태 관측기(ESO)를 통해 유압 액추에이터의 불확실성에 의한 추적 오차를 감소시키고, 시뮬레이션 및 실험 결과 제안된 제어 전략의 효과성을 입증했습니다.
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