Sliding Model Active Disturbance Rejection Control for Tip Trajectory Tracking of Spray Painting Manipulator

Aiming at the tip trajectory tracking against system parameter uncertainty and disturbance during the painting process of the spray painting manipulator, a sliding model active disturbance rejection trajectory tracking controller is designed integrating terminal sliding mode control (SMC) approach and active disturbance rejection control (ADRC) technique. The reference curve trajectory of the tip position/velocity is planned by the kinematics equation. in which the compensation is taken into account for the deflection of the manipulator. The extended state observer (ESO) is used to estimate the total disturbance consisting of the uncertain system parameters and the uncertain interference resulting from deflection and load. Utilizing non-singular terminal sliding mode control, a feedback control law is designed to achieve fast and accurate trajectory tracking. Simultaneously, according to the actual system parameters in the engineering, the simulation validation is given to show that the proposed control strategy can guarantee good tracking performance of the closed-loop system.