Research on vibration suppression control of ship-cleaning manipulators based on improved ADRC

This study investigates the impact of time-varying jet reaction forces on ship-cleaning manipulators, focusing on joint torque fluctuations, high-frequency chatter, and the deterioration of end-effector positioning accuracy. An enhanced active disturbance rejection control (ADRC) method is proposed, which integrates jet reaction force modeling, joint torque feedforward compensation, and improvements to both the extended state observer (ESO) and the nonlinear state error feedback (NLSEF). Simulation results show that the enhanced ADRC reduces the joint stabilization time from 10 to 2 seconds, suppresses over 70% of the initial torque spikes, and decreases the ESO observation errors by more than 60%. Compared with the classical sliding mode control (SMC), the proposed method effectively eliminates high-frequency chattering phenomena and reduces control signal aggressiveness during the startup phase. This method improves trajectory tracking accuracy under strong disturbances while smoothing the control output and significantly reducing high-frequency joint chatter. These results confirm that the enhanced ADRC method improves stability and responsiveness, providing a robust framework for the reliable operation of ship-cleaning manipulators in high-disturbance environments.