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Manipulator Control Law Design Based on Backstepping and ADRC Methods

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Proceedings of 2020 Chinese Intelligent Systems Conference (CISC 2020)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 705))

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Abstract

A backstepping-ADRC control law is designed for one-degree of freedom (DOF) link manipulator system with internal and external factor uncertainty. First, the dynamic model of the manipulator is established, and the extended state observer of ADRC is used to estimate the total disturbance. Second, in order to improve the tracking accuracy of position signal, the nonlinear error feedback control law is improved by combining backstepping control method. Finally, the control law designed is simulated and compared. The effectiveness of the proposed method is varied by the simulation.

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Author information

Authors and Affiliations

  1. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, 100083, China

    Lijun Wang, Jiaxuan Yan, Tianyu Cao & Ningxi Liu

  2. Key Laboratory of Knowledge Automation for Industrial Processes, Ministry of Education, Beijing, 100083, China

    Lijun Wang, Jiaxuan Yan, Tianyu Cao & Ningxi Liu

Authors
  1. Lijun Wang
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  2. Jiaxuan Yan
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  3. Tianyu Cao
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  4. Ningxi Liu
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Corresponding author

Correspondence to Lijun Wang .

Editor information

Editors and Affiliations

  1. School of Automation Science and Electrical Engineering, Beihang University, Beijing, Beijing, China

    Yingmin Jia

  2. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, Beijing, China

    Weicun Zhang

  3. School of Mechanical Engineering and Automation, Beihang University, Beijing, Beijing, China

    Yongling Fu

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© 2021 The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Wang, L., Yan, J., Cao, T., Liu, N. (2021). Manipulator Control Law Design Based on Backstepping and ADRC Methods. In: Jia, Y., Zhang, W., Fu, Y. (eds) Proceedings of 2020 Chinese Intelligent Systems Conference. CISC 2020. Lecture Notes in Electrical Engineering, vol 705. Springer, Singapore. https://doi.org/10.1007/978-981-15-8450-3_28

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