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- W3156175689 abstract "In this paper, a novel control strategy called the active disturbance rejection control (ADRC) is used for trajectory tracking control of a 2-DOF robotic arm manipulator. The manipulator system is a highly nonlinear, dynamically coupled and time-varying system. ADRC is a model-independent control strategy requiring knowledge of only the relative order and the output of the system. The conventional PID controller does not work well in case of highly coupled systems and the sliding mode control shows good dynamic control performance but requires an accurate model of the system. In contrast, ADRC treats coupling and nonlinearity as an external disturbance and provides better results. A second-order optimal tuned linear ADRC with reduced-order observer has been used in this paper for the trajectory tracking of the manipulator system." @default.
- W3156175689 created "2021-04-26" @default.
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- W3156175689 date "2021-01-01" @default.
- W3156175689 modified "2023-09-23" @default.
- W3156175689 title "Optimal Tuned Linear Active Disturbance Rejection Control Applied to a 2-DOF Robotic Arm Manipulator" @default.
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- W3156175689 doi "https://doi.org/10.1007/978-981-33-4501-0_62" @default.
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