Active disturbance rejection control design for a haptic machine interface platform.
Nahri, Syeda Nadiah Fatima Du, Shengzhi Van Wyk, Barend J.
Nahri, Syeda Nadiah Fatima
Du, Shengzhi
Van Wyk, Barend J.
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Abstract
This paper proposes an active disturbance rejection control (ADRC) design for a haptic display platform structure. The motivation for the following scheme originates from the shortcomings faced by classical proportional integral derivative (PID) controllers in control theory. The ADRC is an unconventional model-independent approach, acknowledged as an effective controller in the existence of total plant uncertainties, and these uncertainties are inclusive of the total disturbances and unknown dynamics of the plant. The design and simulation for ADRC are established in MATLAB/ Simulink. The concerned electro-mechanical platform consists of dual ball screw driving system and DC motors. This overall physical system constitutes the haptic interface. Modelling of the two- dimensional physical platform is also explained in this article. Designing of ADRC controller and the human-machine interface (HMI) is followed by their integration, in order to obtain simulation results, thus proving the practicality and validity of the overall system. The results of the proposed controller are compared with the Proportional Integral (PI) controller, which suggests that the ADRC controller performs better as compared to the conventional PI controller.
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Date
2021-01-24
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Advances in Science, Technology and Engineering Systems
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Keywords
Active disturbance rejection control (ADRC), Human-machine interface (HMI), Bilateral teleoperation systems, Mathematical modelling, Simulation