Implementation of Active Disturbance Rejection Control based on Super-Twisting Algorithm on Delta Robot

摘要

In this article, a super-twisting algorithm-based ADRC structure is proposed. This structure contains three parts, a super twisting sliding mode controller, an extended state estimator, and an optimal tracking differentiator. This proposed ADRC is employed to control the Delta parallel robot both numerically, in MATLAB, and experimentally. In numerical simulations, the robustness of the proposed ADRC is verified by applying various external disturbances. Both the numerical and experimental results show the ability of the proposed ADRC structure in controlling the Delta robot in the presence of disturbances and uncertainties.