Trajectory Tracking of Manipulator Based on Sliding-Mode Active Disturbance Rejection Control

This study aims to evaluate the trajectory tracking performance and response speed of the system for a two-degree-of-freedom manipulator. Aiming at the problems of many parameters and complicated tuning of traditional active disturbance rejection control (ADRC), The academic community has made new improvements, the sliding-mode active disturbance rejection control (SM-ADRC) has been proposed. This approach streamlines the parameter tuning process and enhances the system's response speed. A fixed-time command filter is employed in place of the TD differentiator to address the issue of convergence time being influenced by the system's initial conditions. Meanwhile, the fixed time command filter also has the advantages of simple parameter adjustment, fixed time convergence and strong anti-interference ability. To further enhance the system's control performance, a reduced-order extended state observer (R-ESO) is designed and implemented. This reduces the computational load and simplifies the parameter design and tuning process. R-ESO has higher practicability in practical engineering application and reduces the difficulty of implementation. Compared with the original ADRC algorithm, this paper's proposed control algorithm offers enhanced feasibility and economic advantages for practical engineering use.