Optimized trajectory tracking control of the clearance manipulator based on improved PSO algorithm

Abstract

Aiming at the problems of low joint trajectory tracking accuracy and poor anti-interference ability caused by parameter uncertainty, nonlinearity, and external interference in the hydraulic servo system of the clearance manipulator, an active disturbance rejection servo control method optimized based on the improved Particle Swarm Optimization algorithm is proposed. First, through the kinematic and dynamic analysis of the clearance manipulator, the general solutions of its forward and inverse kinematics are derived, and the relationship expression between each joint angle and the extension of the piston rod of the driving cylinder is obtained according to the relationship between the joint space and the driving mechanism space; Second, the state space differential equations of the hydraulic system of the working device are derived using mechanistic modeling, and this is used to design an active disturbance rejection servo controller for each joint, and the parameters of the active disturbance rejection controller are optimized using an improved PSO algorithm to improve the control performance. Simulation and experimental results show that compared with classical PID control and conventional Active Disturbance Rejection Control, the improved ADRC in this paper has higher trajectory tracking control accuracy and the ability to suppress external disturbances.