Considering the dynamic model of the manipulator influenced by the uncertain factors such as unmodeled dynamics, friction torque and external disturbances, a fuzzy active disturbance rejection controller(ADRC) is proposed in this paper to improve the trajectory tracking performance of the system. By using the extended state observer in the active disturbance rejection technique which can estimate the internal and external disturbances in real time, the uncertain factors of the system can be observed. The dynamic response performance of the system can be improved by using the tracking differential device, and the nonlinear error feedback control law is improved by combining the fuzzy control technology, thus realizing the optimal self-tuning of the error feedback gain. Simulation results show that the strong robustness and effectiveness of the proposed controller.

active disturbance rejection control; total disturbance; trajectory tracking; manipulator; fuzzy control