Generalized Discrete-Time Variable Gain ADRC for Nonlinear Systems and Its Application to Parallel Teleoperated Manipulators

In this paper, we propose a novel generalized discrete-time variable gain active disturbance rejection control (DTVGADRC) method for the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">n</i>-th order discrete-time nonlinear systems. The error-driven generalized DTVGADRC can dynamically improve the control performances, including generalized discrete-time variable gain tracking differentiator (DTVGTD), generalized discrete-time variable gain extended state observer (DTVGESO), and generalized discrete-time variable gain controller (DTVGC). Furthermore, the stability analysis of generalized DTVGADRC is performed, and the parameters in the variable gain functions are determined by the theoretical analysis. Finally, the generalized DTVGADRC method is applied to parallel teleoperated manipulators, and the experiment results are presented to illustrate effectiveness of the proposed method.