Research on active disturbance rejection control technique for underwater welding robot based on model compensation
ISSN: 0143-991x
Article publication date: 17 February 2023
Issue publication date: 9 August 2023
Abstract
Purpose
An active disturbance rejection controller (ADRC) based on model compensation is proposed in this paper. The method should first be taken a nominal model of the robot to compensate. Subsequently, the uncertain external disturbance is estimated and compensated is used an expansion state observer (ESO) in real time, which can reduce the estimating range of observation for ESO. The purpose of this paper is to suggest a novel method to improve the system tracking performance, as well as the dynamic and static performance index.
Design/methodology/approach
A welding robot is a complicated system with uncertainty, time-varying, strong coupling and a nonlinear system; it is more complex as if it is used in an underwater environment, and it is difficult to establish an accurate dynamic model for an underwater welding robot. Aiming at the tracking control of an underwater welding robot, it is difficult to achieve the control performance requirements by the conventional proportional integral derivative method to realize automatic tracking of the seam.
Findings
The simulation experiment is carried out by MATLAB/Simulink, and the application experiment is recorded. The experimental results show that the control method is correct and effective, and the system’s tracking performance is stable, and the robustness and tracking accuracy of the system are also improved.
Originality/value
The seam gets plumper and smoother, with better continuity and no undercut phenomenon.
Keywords
Acknowledgements
The authors gratefully acknowledge the support from the Natural Science Foundation of China (Grant no. 2011AA040201), the University-level Funding Projects of Guangdong Mechanical and Electrical Polytechnic (Grant no. Gccrcxm-202007), the 2021 Guangdong Provincial Department of Education recognized scientific research projects in Colleges and Universities (Grant no. 2021KTSCX205) and the 2021 School-level Scientific Research Projects (Grant no. YJZD2021-54).
Conflict of interest: The authors declare that they have no conflict of interest.
Data availability statement: Data sharing is not applicable to this article as no new data were created or analyzed in this study.
Citation
Li, S. and Zhang, X. (2023), "Research on active disturbance rejection control technique for underwater welding robot based on model compensation", Industrial Robot, Vol. 50 No. 5, pp. 731-739. https://doi.org/10.1108/IR-11-2022-0274
Publisher
:Emerald Publishing Limited
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