The invention relates to a multi-single-arm
manipulator output consistence active disturbance rejection controller structure with pre-defined performance and a design method thereof, in particular toa multi-single-arm
manipulator output consistence active disturbance rejection controller, and belongs to the technical field of industrial
process control. The active disturbance rejection technologyand the inversion technique are used for designing the multi-single-arm
manipulator output consistence active disturbance rejection controller, the characteristic that extension state observers do not rely on a
system model is utilized, and the influence of disturbance can be estimated and compensated in real time, so that the designed controller has the anti-disturbing property; tracking differentiators are designed to simplify the phenomenon of complex
signal derivation of "explosion"; a
manipulator system is restrained by a driving torque, the input saturation characteristic is considered,and the amplitude limiting problem of the driving torque is solved by an
auxiliary system; the convergence speed and accuracy of the output consistence error are improved by using a pre-defined
performance function; and according to the designed scheme, the unknown dynamic of the
system can be effectively estimated, the derivation is simplified, and the control precision is improved.