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For the uncertainties which exist objectively in the robot system impact on the motion performance of joint robot system, an active disturbance rejection control method of joint robot system is proposed based on state observation and compensation. The uncertainties of the system are introduced by constructing extended state in the method, and uncertainties and state variables are estimated by an Extended...
In order to solve the system overshoot problems in big initial input signal, a new type of linear active disturbance rejection controller (LADRC) is investigated. The stability of the new LADRC is analyzed, and the equivalent transfer function is derived through this paper. The stability conditions that meet the performance requirements are also analyzed. Further more, the comparison between the two...
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