Trajectory Tracking Control for Delta Parallel Manipulators: A Variable Gain ADRC Approach

In this letter, a novel variable gain active disturbance rejection control (VGADRC) approach is developed for solving the trajectory tracking problem of delta parallel manipulators with disturbances. The proposed VGADRC, including variable gain tracking differentiator (VGTD), variable gain extended state observer (VGESO), and variable gain controller (VGC), incorporates the error-driven variable gains to achieve desired performance specifications, and the ultimate boundedness can be guaranteed. Finally, simulations and experiments are conducted to verify effectiveness and advantages of the proposed method.