Underwater Manipulator Linear Active Disturbance Rejection Control Based on Hierarchical Cascaded Linear Extended State Observer

Underwater Manipulator Linear Active Disturbance Rejection Control Based on Hierarchical Cascaded Linear Extended State Observer

Addressing the challenges of strong coupling, nonlinearity, and time-varying characteristics in underwater manipulator systems, along with the inevitable environmental disturbances such as gravity, buoyancy, and hydrodynamic forces that reduce system state convergence speed and affect control perfor...

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Bibliographic Details
Main Authors: Yulong Xu, Kailan Gao, Xuelin Wang, Qian Li, Changlin Wang, Peng Wang
Format: Article
Language:English
Published: IEEE 2024-01-01
Series:IEEE Access
Subjects:
Underwater manipulator
robustness
hierarchical cascade
extended state observer
linear active disturbance rejection control
Online Access:https://ieeexplore.ieee.org/document/10707276/
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