六自由度并联平台无约束运动阶段的改进自抗扰控制
Research on Active Disturbance Rejection Motion Control Algorithm for the Unconstrained Motion Phase of a Printing Press Sleeve Assembly Robot
摘要: 针对六自由度Stewart并联平台在无约束运动阶段的高精度轨迹跟踪控制需求，本文开展基于扩张状态观测器(ESO)的自抗扰控制(ADRC)方法研究。针对平台在自由运动空间中的模型不确定性和外部扰动问题，设计了完整的自抗扰控制框架。首先建立平台的无约束运动动力学模型，然后提出改进的稳定化自抗扰控制算法，通过扩张状态观测器实时估计并补偿总扰动，引入自适应ESO带宽调整和饱和非线性函数，解决控制输入震荡问题，实现参数在线自整定。
Abstract: To address the high-precision trajectory tracking control requirements of a six-degree-of-freedom Stewart parallel platform during its unconstrained motion phase, this paper conducts research on an Active Disturbance Rejection Control (ADRC) method based on an Extended State Observer (ESO). Aiming at the problems of model uncertainty and external disturbances when the platform operates in free-motion space, a complete ADRC framework is designed. Firstly, the unconstrained motion dynamics model of the platform is established. Then, an improved stabilized ADRC algorithm is proposed. This algorithm utilizes the ESO to estimate and compensate for the total disturbance in real time. By introducing an adaptive ESO bandwidth adjustment mechanism and a saturation nonlinear function, it solves the control input oscillation issue and achieves online parameter self-tuning.
文章引用：魏宏博, 赵伟, 曹少中. 六自由度并联平台无约束运动阶段的改进自抗扰控制[J]. 人工智能与机器人研究, 2026, 15(1): 328-342. https://doi.org/10.12677/airr.2026.151032

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