Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot

DONG, Kaifeng ;LI, Jun ;LV, Mengyao ;LI, Xin ;GU, Wei ;CHENG, Gang .
Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 69, n.11-12, p. 509-521, august 2023. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/sl/article/research-on-the-driven-branch-chain-active-disturbance-rejection-control-algorithm-of-the-polishing-robot/>. Date accessed: 01 feb. 2026. 
doi:http://dx.doi.org/10.5545/sv-jme.2023.680.

Dong, K., Li, J., Lv, M., Li, X., Gu, W., & Cheng, G.
(2023).
Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot.
Strojniški vestnik - Journal of Mechanical Engineering, 69(11-12), 509-521.
doi:http://dx.doi.org/10.5545/sv-jme.2023.680

@article{sv-jmesv-jme.2023.680,
	author = {Kaifeng  Dong and Jun  Li and Mengyao  Lv and Xin  Li and Wei  Gu and Gang  Cheng},
	title = {Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {69},
	number = {11-12},
	year = {2023},
	keywords = {active disturbance rejection control; trajectory tracking; parallel mechanism; driven branch chain; },
	abstract = {To overcome poor error suppression performance and low control accuracy in the polishing robot-driven branch chain control system, this paper proposes an improved active disturbance rejection control (ADRC) from the design of the derived nonlinear function. Subsequently, the tracking differentiator (TD), extended state observer (ESO) and nonlinear state error feedback (SEF) are designed in the ADRC, and the driven branch’s ADRC servo-control system is established based on the permanent magnet synchronous motor (PMSM) with each driven branch. Meantime, by establishing first-order and second-order ADRC, current-loop control, and speed-and-position-loop control are realized, respectively. Finally, this study analysed differences in the speed and motor rotor error performance between the proportional-integral-derivative (PID)control and ADRC control strategy by using Simulink. Furthermore, an experiment platform, including hardware and software, is built to validate some inclusions. The results show that the ADRC not only realises high-precision trajectory tracking control but also ensures the rapid response performance of the system.},
	issn = {0039-2480},	pages = {509-521},	doi = {10.5545/sv-jme.2023.680},
	url = {https://www.sv-jme.eu/sl/article/research-on-the-driven-branch-chain-active-disturbance-rejection-control-algorithm-of-the-polishing-robot/}
}

Dong, K.,Li, J.,Lv, M.,Li, X.,Gu, W.,Cheng, G.
2023 August 69. Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 69:11-12

%A Dong, Kaifeng 
%A Li, Jun 
%A Lv, Mengyao 
%A Li, Xin 
%A Gu, Wei 
%A Cheng, Gang 
%D 2023
%T Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot
%B 2023
%9 active disturbance rejection control; trajectory tracking; parallel mechanism; driven branch chain; 
%! Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot
%K active disturbance rejection control; trajectory tracking; parallel mechanism; driven branch chain; 
%X To overcome poor error suppression performance and low control accuracy in the polishing robot-driven branch chain control system, this paper proposes an improved active disturbance rejection control (ADRC) from the design of the derived nonlinear function. Subsequently, the tracking differentiator (TD), extended state observer (ESO) and nonlinear state error feedback (SEF) are designed in the ADRC, and the driven branch’s ADRC servo-control system is established based on the permanent magnet synchronous motor (PMSM) with each driven branch. Meantime, by establishing first-order and second-order ADRC, current-loop control, and speed-and-position-loop control are realized, respectively. Finally, this study analysed differences in the speed and motor rotor error performance between the proportional-integral-derivative (PID)control and ADRC control strategy by using Simulink. Furthermore, an experiment platform, including hardware and software, is built to validate some inclusions. The results show that the ADRC not only realises high-precision trajectory tracking control but also ensures the rapid response performance of the system.
%U https://www.sv-jme.eu/sl/article/research-on-the-driven-branch-chain-active-disturbance-rejection-control-algorithm-of-the-polishing-robot/
%0 Journal Article
%R 10.5545/sv-jme.2023.680
%& 509
%P 13
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 69
%N 11-12
%@ 0039-2480
%8 2023-08-18
%7 2023-08-18

Dong, Kaifeng, Jun  Li, Mengyao  Lv, Xin  Li, Wei  Gu, & Gang  Cheng.
"Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot." Strojniški vestnik - Journal of Mechanical Engineering [Online], 69.11-12 (2023): 509-521. Web.  01 Feb. 2026

TY  - JOUR
AU  - Dong, Kaifeng 
AU  - Li, Jun 
AU  - Lv, Mengyao 
AU  - Li, Xin 
AU  - Gu, Wei 
AU  - Cheng, Gang 
PY  - 2023
TI  - Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2023.680
KW  - active disturbance rejection control; trajectory tracking; parallel mechanism; driven branch chain; 
N2  - To overcome poor error suppression performance and low control accuracy in the polishing robot-driven branch chain control system, this paper proposes an improved active disturbance rejection control (ADRC) from the design of the derived nonlinear function. Subsequently, the tracking differentiator (TD), extended state observer (ESO) and nonlinear state error feedback (SEF) are designed in the ADRC, and the driven branch’s ADRC servo-control system is established based on the permanent magnet synchronous motor (PMSM) with each driven branch. Meantime, by establishing first-order and second-order ADRC, current-loop control, and speed-and-position-loop control are realized, respectively. Finally, this study analysed differences in the speed and motor rotor error performance between the proportional-integral-derivative (PID)control and ADRC control strategy by using Simulink. Furthermore, an experiment platform, including hardware and software, is built to validate some inclusions. The results show that the ADRC not only realises high-precision trajectory tracking control but also ensures the rapid response performance of the system.
UR  - https://www.sv-jme.eu/sl/article/research-on-the-driven-branch-chain-active-disturbance-rejection-control-algorithm-of-the-polishing-robot/

@article{{sv-jme}{sv-jme.2023.680},
	author = {Dong, K., Li, J., Lv, M., Li, X., Gu, W., Cheng, G.},
	title = {Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {69},
	number = {11-12},
	year = {2023},
	doi = {10.5545/sv-jme.2023.680},
	url = {https://www.sv-jme.eu/sl/article/research-on-the-driven-branch-chain-active-disturbance-rejection-control-algorithm-of-the-polishing-robot/}
}

TY  - JOUR
AU  - Dong, Kaifeng 
AU  - Li, Jun 
AU  - Lv, Mengyao 
AU  - Li, Xin 
AU  - Gu, Wei 
AU  - Cheng, Gang 
PY  - 2023/08/18
TI  - Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 69, No 11-12 (2023): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2023.680
KW  - active disturbance rejection control, trajectory tracking, parallel mechanism, driven branch chain, 
N2  - To overcome poor error suppression performance and low control accuracy in the polishing robot-driven branch chain control system, this paper proposes an improved active disturbance rejection control (ADRC) from the design of the derived nonlinear function. Subsequently, the tracking differentiator (TD), extended state observer (ESO) and nonlinear state error feedback (SEF) are designed in the ADRC, and the driven branch’s ADRC servo-control system is established based on the permanent magnet synchronous motor (PMSM) with each driven branch. Meantime, by establishing first-order and second-order ADRC, current-loop control, and speed-and-position-loop control are realized, respectively. Finally, this study analysed differences in the speed and motor rotor error performance between the proportional-integral-derivative (PID)control and ADRC control strategy by using Simulink. Furthermore, an experiment platform, including hardware and software, is built to validate some inclusions. The results show that the ADRC not only realises high-precision trajectory tracking control but also ensures the rapid response performance of the system.
UR  - https://www.sv-jme.eu/sl/article/research-on-the-driven-branch-chain-active-disturbance-rejection-control-algorithm-of-the-polishing-robot/

Dong, Kaifeng, Li, Jun, Lv, Mengyao, Li, Xin, Gu, Wei, AND Cheng, Gang.
"Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 69 Number 11-12 (18 August 2023)