Thesis
Simulation & analysis of coupled 2R manipulator using ADRC control
Master of Science (M.S.), Drexel University
Jun 2024
DOI:
https://doi.org/10.17918/00010450
Abstract
This study uses two independent Linear Active Disturbance Rejection Controllers (LADRC) to drive the coupled nonlinear dynamics of a two-axis SCARA robot, through simulation. ADRC is a better implementation for this system than traditional state variable feedback (SVF), requiring a system model and access to all states. Since this system is nonlinear, SVF will require linearization, determination of state feedback gains, and application to the nonlinear system. This means SVF only works in a limited subspace. Alternatively, LADRC is an effective control strategy for single-input single-output systems (SISO) where a complete model may not be known, have changing parameters, and is subject to disturbance. LADRC can also be effective for nonlinear systems and is simpler to tune and understand than non-linear ADRC. This project aimed to establish a functioning simulation demonstrating the manipulator's ability to track a straight line using closed-loop control. The MATLAB/Simulink environment developed for simulating the two-axis manipulator incorporates kinematic, Jacobian, and Lagrangian dynamics, and ensures the manipulator's trajectory resides within the reachable workspace. A DC motor model and ADRC controls were then integrated to control the coupled non-linearity of the model. The system's response to a specific set of unmodeled dynamics and disturbances was assessed using mean squared error as a metric for evaluating the manipulator's performance, compared to the input waveform. System response to disturbances is also observed in the x3 state of the controller.
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Details
- Title
- Simulation & analysis of coupled 2R manipulator using ADRC control
- Creators
- Michael Savarese
- Contributors
- Thomas A. Chmielewski (Advisor)Leonid Hrebien (Advisor)
- Awarding Institution
- Drexel University
- Degree Awarded
- Master of Science (M.S.)
- Publisher
- Drexel University; Philadelphia, Pennsylvania
- Number of pages
- vii, 62 pages
- Resource Type
- Thesis
- Language
- English
- Academic Unit
- College of Engineering (1970-2026); Electrical (and Computer) Engineering (1970-2026); Drexel University
- Other Identifier
- 991021890210304721