Model Free Control of Electrically Driven Manipulator by Optimized Linear Extended State Observer, based on Voltage Control Strategy

摘要

This paper presents a new approach for robot manipulator control, based on voltage control strategy. The novelty of this paper is providing a model-free control system with optimized parameters. In this approach, it is not necessary to have dynamic equations and parameters of robot and its motors. Uncertainties and disturbances of each joint of the robot manipulator is estimated by a Linear Extended State Observer (LESO), and the convergence of estimated variables to actual variables has been analyzed. After estimating the disturbances, a proportional controller is used to tracking the reference trajectory. LESO and controller design parameters have been determined using the PSO algorithm. Simulation results depicted that the proposed model-free controller has a satisfactory performance for reducing the position tracking error.