Active disturbance rejection control based on inertia estimation and variable gain for servomechanism of industrial robot

This paper proposes an adaptive PID controller based on linear extended state observer (LESO) for the two-degree-of-freedom joint servomechanism of industrial robot with time-varying load, uncertainties parameters and disturbance. The third-order space equations system approximate model is established to obtain LESO which applied estimate values total reference algorithm used variable moment inertia design parameter control law designed disturbance compensation. By appropriately selecting gain coefficient bandwidth LESO, influences uncertainty, unknown dynamics disturbances are effectively attenuated. Simulation experimental results show that proposed method achieves both satisfactory rejection tracking performances servomechanism.