Improved active disturbance rejection control-based research on trajectory tracking for multi-degree-of-freedom manipulators

To improve the trajectory tracking accuracy and disturbance rejection capabilities of multi-degree-of-freedom robotic arms, this paper proposes an enhanced Active Disturbance Rejection Control (ADRC) strategy. This strategy involves designing a modified Extended State Observer (ESO) based on nonlinear functions to monitor internal disturbances and the extended state of the control system, which encompasses nonlinear factors, internal model uncertainties, and external disturbances. A Fuzzy proportional-derivative(PD) control controller is employed to mitigate residual errors. Simulation and experimental results demonstrate that the improved ADRC-based trajectory tracking system significantly outperforms traditional control strategies in terms of tracking accuracy and disturbance rejection.