This study considers the problems of manipulators with high coupling, parameter uncertainties, and external disturbances. A six-axis serial manipulator control system based on active disturbance rejection control strategy is proposed without the requirement of the exact dynamic model. First, the operating circuit of the manipulator joint motor is analyzed, and the mathematical model of the direct-current torque motor is established. Second, the components of active disturbance rejection control are designed, and a new nonlinear function is selected to construct the extended state observer and nonlinear state error feedback control law. Then, Kalman filter is introduced into an extended state observer to estimate the disturbance efficiently. Finally, the proportion–integration–differentiation control, traditional active disturbance rejection control, and improved active disturbance rejection control are simulated and compared under the same input signal. The results show that the proposed control strategy has good dynamic performance and uncertain disturbance robustness, which proves the effectiveness of the proposed method.

中文翻译：

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基于自抗扰控制的六轴串联机械手控制系统

本研究考虑了机械手高耦合、参数不确定和外部干扰等问题。提出了一种不需要精确动力学模型的基于自抗扰控制策略的六轴串行机械手控制系统。首先分析了机械手关节电机的工作电路，建立了直流力矩电机的数学模型。其次，设计了自抗扰控制的组成部分，并选择了一个新的非线性函数来构造扩展状态观测器和非线性状态误差反馈控制律。然后，将卡尔曼滤波器引入扩展状态观测器以有效估计扰动。最后，比例-积分-微分控制，在相同的输入信号下，对传统的自抗扰控制和改进的自抗扰控制进行了仿真比较。结果表明，所提出的控制策略具有良好的动态性能和不确定扰动的鲁棒性，证明了所提出方法的有效性。