Active Disturbance Rejection Control for Ladle Masonry Robotic Arm Based on Fixed‐Time Observer

ABSTRACT As a critical link in the steel metallurgy process, the automation level of ladle masonry directly influences the service life of the ladle and metallurgical quality. Considering that the ladle masonry manipulator is susceptible to environmental disturbance, sensor noise, system parameter variations, and other disturbances in complex environments, this paper proposes an active disturbance rejection control method based on a fixed‐time observer. A multi‐power fixed‐time extended state observer is constructed to ensure that complex disturbances converge to the equilibrium point within a fixed time, enabling accurate estimation of total system disturbances within a fixed‐time framework. Simulation results demonstrate that this method effectively overcomes the degradation of observation performance in the extended state observer caused by large initial observation errors, thereby enhancing the trajectory tracking accuracy and robustness of the manipulator.