Motion control of a novel 6-degree-of-freedom parallel platform based on modified active disturbance rejection controller

A novel 6-degree-of-freedom parallel platform and its motion control based on a modified active disturbance rejection controller are presented in this article. Structure and mathematical model of a novel electromagnetic linear actuator are analyzed, which is the main component of the novel 6-degree-of-freedom parallel platform. Kinematics-based control method of the 6-degree-of-freedom parallel platform is adopted, and the modified active disturbance rejection controller is used to track each desired trajectory accurately in spite of disturbances. Comparative simulations and experimental results demonstrate the effectiveness of the modified active disturbance rejection controller, and this novel 6-degree-offreedom parallel platform can be driven to realize the given motion well.