Linear active disturbance rejection tracking control for industrial manipulator with disturbance and time delay

In this paper, a linear active disturbance rejection controller (LADRC) is designed for the tracking control problem of industrial manipulator with uncertain factors, such as disturbance and time delay. Firstly, the discrete system model of industrial manipulator with disturbance and network induced delay is established by discretization analysis method, and then the disturbance and network induced delay uncertainties in the model are defined as a new extended state. Secondly, a linear extended state observer (LESO) is designed to estimate the system uncertain factors in time. Then, by using the estimated values, a linear state error feedback control law with feedforward compensation for uncertainties is designed to suppress the effect of disturbance and time delay for control performance, and to ensure that the system tracking errors can converge to zero stably. Finally, Comparative simulation results show the effectiveness of the proposed controller.