Applied Chemical Engineering

Trajectory tracking of chemical engineering robotic arms based on improved nonlinear active disturbance rejection control

Xinmei Peng

School of Mechanical Engineering and Transportation, Southwest Forestry University，Kunming, 650224, China

Xinyuan Cai

School of Mechanical Engineering and Transportation, Southwest Forestry University，Kunming, 650224, China

Weijie Zhou

School of Mechanical Engineering and Transportation, Southwest Forestry University，Kunming, 650224, China

Wei Li

School of Mechanical Engineering and Transportation, Southwest Forestry University，Kunming, 650224, China

DOI: https://doi.org/10.59429/ace.v8i1.5585

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Abstract

With the increasing demand for automation and precision in chemical engineering processes, robotic arms play a crucial role in enhancing production efficiency and product quality. Traditional control methods often struggle to cope with the complex dynamic environments and unpredictable disturbances inherent in chemical engineering applications. This study presents an improved Nonlinear Active Disturbance Rejection Control (NLADRC) method for dynamic trajectory tracking of chemical engineering robotic arms. Leveraging the support of the Yunnan Province Major Science and Technology Project, the proposed NLADRC framework integrates an enhanced disturbance observer and adaptive control strategies to effectively mitigate unknown disturbances and parameter variations. Experimental results demonstrate that the NLADRC method significantly outperforms traditional PID and standard ADRC controllers in terms of tracking accuracy, response speed, and robustness. The findings provide a robust theoretical foundation and practical guidelines for the deployment of advanced control strategies in chemical engineering robotic systems.

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