Robotic Intelligence and Automation最新文献

{"title":"Hybrid particle swarm optimization algorithms for cost-oriented robotic assembly line balancing problems","authors":"Canran Zhang, Jianping Dou, Shuai Wang, Pingyuan Wang","doi":"10.1108/ria-07-2022-0178","DOIUrl":"https://doi.org/10.1108/ria-07-2022-0178","url":null,"abstract":"\u0000Purpose\u0000The cost-oriented robotic assembly line balancing problem (cRALBP) has practical importance in real-life manufacturing scenarios. However, only a few studies tackle the cRALBP using exact methods or metaheuristics. This paper aims to propose a hybrid particle swarm optimization (PSO) combined with dynamic programming (DPPSO) to solve cRALBP type-I.\u0000\u0000\u0000Design/methodology/approach\u0000Two different encoding schemes are presented for comparison. In the frequently used Scheme 1, a full encoding of task permutations and robot allocations is adopted, and a relatively large search space is generated. DPSO1 and DPSO2 with the full encoding scheme are developed. To reduce the search space and concern promising solution regions, in Scheme 2, only task permutations are encoded, and DP is used to obtain the optimal robot sequence for a given task permutation in a polynomial time. DPPSO is proposed.\u0000\u0000\u0000Findings\u0000A set of instances is generated, and the numerical experiments indicate that DPPSO achieves a tradeoff between solution quality and computation time and outperforms existing algorithms in solution quality.\u0000\u0000\u0000Originality/value\u0000The contributions of this paper are three aspects. First, two different schemes of encoding are presented, and three PSO algorithms are developed for the purpose of comparison. Second, a novel updating mechanism of discrete PSO is adjusted to generate feasible task permutations for cRALBP. Finally, a set of instances is generated based on two cost parameters, then the performances of algorithms are systematically compared.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130998862","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Research on two-stage grasping planning method for multifingered dexterous hand","authors":"Zhonglai Tian, Hongtai Cheng, Liangliang Zhao, Jingdong Zhao","doi":"10.1108/ria-02-2023-0013","DOIUrl":"https://doi.org/10.1108/ria-02-2023-0013","url":null,"abstract":"\u0000Purpose\u0000The purpose of this paper is to design a multifingered dexterous hand grasping planning method that can efficiently perform grasping tasks on multiple dexterous hand platforms.\u0000\u0000\u0000Design/methodology/approach\u0000The grasping process is divided into two stages: offline and online. In the offline stage, the grasping solution form is improved based on the forward kinematic model of the dexterous hand. A comprehensive evaluation method of grasping quality is designed to obtain the optimal grasping solution offline data set. In the online stage, a safe and efficient selection strategy of the optimal grasping solution is proposed, which can quickly obtain the optimal grasping solution without collision.\u0000\u0000\u0000Findings\u0000The experiments verified that the method can be applied to different multifingered dexterous hands, and the average grasping success rate for objects with different structures is 91.7%, indicating a good grasping effect.\u0000\u0000\u0000Originality/value\u0000Using a forward kinematic model to generate initial grasping points can improve the generality of grasping planning methods and the quality of initial grasping solutions. The offline data set of optimized grasping solutions can be generated faster by the comprehensive evaluation method of grasping quality. Through the simple and fast obstacle avoidance strategy, the safe optimal grasping solution can be quickly obtained when performing a grasping task. The proposed method can be applied to automatic assembly scenarios where the end effector is a multifingered dexterous hand, which provides a technical solution for the promotion of multifingered dexterous hands in industrial scenarios.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126288011","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Trajectory planning method for docking of large aircraft components","authors":"Shuanggao Li, Wenmin Chu, Xiang Huang, Jinggang Xu","doi":"10.1108/ria-12-2022-0278","DOIUrl":"https://doi.org/10.1108/ria-12-2022-0278","url":null,"abstract":"\u0000Purpose\u0000In the digital assembly system of large aircraft components (LAC), the docking trajectory of LAC is an important factor affecting the docking accuracy and stability of the LAC. The main content of docking trajectory planning is how to move the LAC from the initial posture and position to the target posture and position (TPP). This paper aims to propose a trajectory planning method of LAC based on measured data.\u0000\u0000\u0000Design/methodology/approach\u0000First, the posture and position error model of the wing is constructed according to the measured data of the measurement points (MPs) and the fork lug joints. Second, the particle swarm optimization algorithm based on the dynamic inertia factor is used to optimize the TPP of the wing. Third, to ensure the efficiency and stability of posture adjustment, the S-shaped curve is used as the motion trajectory of LAC, and the parameters of the trajectory are solved by the generalized multiplier method. Finally, a series of docking experiments are carried out.\u0000\u0000\u0000Findings\u0000During the process of posture adjustment, the motion of the numerical control locator (NCL) is stable, and the interaction force between the NCLs is always within a reasonable range. After the docking, the MPs are all within the tolerance range, and the coaxiality error of the fork lug hole is less than 0.2 mm.\u0000\u0000\u0000Originality/value\u0000In this paper, the measured data rather than the theoretical design model is used to solve the TPP, which improves the docking accuracy of LAC. Experiment results show that the proposed trajectory method can complete the LAC docking effectively and improve the docking accuracy.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133385652","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A study of the operator assignment problem in powder-coating processing using simulation optimization","authors":"Taho Yang, Mei-Chuan Wang, Y. Kuo","doi":"10.1108/ria-01-2023-0003","DOIUrl":"https://doi.org/10.1108/ria-01-2023-0003","url":null,"abstract":"\u0000Purpose\u0000The main operations of the powder-coating process are staggered along a closed-loop conveyor. Given the volatile market demands, using a fixed level of staffing may result in significant productivity losses. The present study aims to capture stochastic behavior and optimize operator assignment problems in a practical powder-coating process. By using the proposed methodology, when demand changes, the optimal operator assignment configuration can be provided, ensuring high labor productivity.\u0000\u0000\u0000Design/methodology/approach\u0000The powder-coating process is an important industrial application and is often a labor-intensive system. The present study adopts a practical case to optimize its staffing level. Because of its operational complexity, the problem is solved by a proposed simulation-optimization approach. The results are promising, and the proposed methodology is shown to be an effective approach.\u0000\u0000\u0000Findings\u0000The proposed methodology was tested for various demand levels. The optimized operator assignment configuration always improves on the performance of other staffing levels. Given the same daily throughput, the optimized operator assignment configuration can improve performance by as much as 19%. In scenarios where there is increased demand, the resulting reduction in overtime work improves performance by between 20.33% and 56.72%. In scenarios where there is reduced demand, the optimized staffing level produces improvements between 3.13% and 50%. Compared with the fixed staffing policy of the case company, the flexible staffing policy of the proposed methodology can maintain high labor productivity across demand variations. The results are consistent with the Shojinka philosophy of the Toyota Production System.\u0000\u0000\u0000Originality/value\u0000This study proposes a solution to the operator assignment decision in a labor-intensive manufacturing system – a powder-coating processing system. Powder coating provides a solid powder coating without any solvent. Because of its excellent application performance and environmental protection, it is widely used in the field of metal coating, especially appliances for offices and homes. Most of the existing literature has solved the problem by making unrealistic assumptions. The present study proposes a simulation-optimization method to solve a practical problem in powder-coating processing. The effectiveness of the proposed methodology is illustrated by a practical application. According to the experimental results, five operators can be saved for the same daily throughput. An average of 35 and 19 min of overtimes can be saved when demand increases by 10% and 20% with one less operator; between 2 and 16 operators can be saved when demand falls by 10%–60%.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128246097","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Low-level control with actuator dynamics for multirotor UAVs","authors":"Jian Di, Yu Kang, H. Ji, Xinghu Wang, Shaofeng Chen, Fei Liao, Kun Li","doi":"10.1108/ria-01-2023-0006","DOIUrl":"https://doi.org/10.1108/ria-01-2023-0006","url":null,"abstract":"\u0000Purpose\u0000A low-level controller is critical to the overall performance of multirotor unmanned aerial vehicles. The purpose of this paper is to propose a nonlinear low-level angular velocity controller for multirotor unmanned aerial vehicles in various operating conditions (e.g. different speed and different mode).\u0000\u0000\u0000Design/methodology/approach\u0000To tackle the above challenge, the authors have designed a nonlinear low-level controller taking the actuator dynamics into account. The authors first build the actuator subsystem by combining the actuator dynamics with the angular velocity dynamics model. Then, a recursive low-level controller is developed by designing a high-gain observer to estimate unmeasurable states. Furthermore, a detailed stability analysis is given with the Lyapunov theory.\u0000\u0000\u0000Findings\u0000Simulation tests and real-world flying experiments are provided to validate the proposed approach. In particular, we illustrate the performance of the proposed controller using violent random command test, attitude mode flight and high-speed flight of up to 18.7 m/s in real world. Compared with the classical method used in PX4 autopilot and the estimation-based incremental nonlinear dynamic inversion method, experimental results show that the proposed method can further reduce the control error.\u0000\u0000\u0000Research limitations/implications\u0000Low-level control of multirotor UAVs is challenging due to the complex dynamic characteristics of UAVs and the diversity of tasks. Although some progress has been made, the performance of existing methods will deteriorate as operating conditions change due to the disregard for the electromechanical characteristics of the actuator.\u0000\u0000\u0000Originality/value\u0000To solve the low-level angular velocity control problem in various operating conditions of multirotor UAVs, this paper proposes a nonlinear low-level angular velocity controller which takes the actuator dynamics into account.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133180381","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Stewart-inspired parallel spatial docking robot: design, analysis and experimental results","authors":"Gan Zhan, Zhenyu Zhang, Zhihua Chen, Tianzhen Li, D. Wang, Jigang Zhan, Zhengang Yan","doi":"10.1108/ria-01-2023-0010","DOIUrl":"https://doi.org/10.1108/ria-01-2023-0010","url":null,"abstract":"\u0000Purpose\u0000This paper aims to focus on the spatial docking task of unmanned vehicles under ground conditions. The docking task of military unmanned vehicle application scenarios has strict requirements. Therefore, how to design a docking robot mechanism to achieve accurate docking between vehicles has become a challenge.\u0000\u0000\u0000Design/methodology/approach\u0000In this paper, first, the docking mechanism system is described, and the inverse kinematics model of the docking robot based on Stewart is established. Second, the genetic algorithm-based optimization method for multiobjective parameters of parallel mechanisms including workspace volume and mechanism flexibility is proposed to solve the problem of multiparameter optimization of parallel mechanism and realize the docking of unmanned vehicle space flexibility. The optimization results verify that the structural parameters meet the design requirements. Besides, the static and dynamic finite element analysis are carried out to verify the structural strength and dynamic performance of the docking robot according to the stiffness, strength, dead load and dynamic performance of the docking robot. Finally, taking the docking robot as the experimental platform, experiments are carried out under different working conditions, and the experimental results verify that the docking robot can achieve accurate docking tasks.\u0000\u0000\u0000Findings\u0000Experiments on the docking robot that the proposed design and optimization method has a good effect on structural strength and control accuracy. The experimental results verify that the docking robot mechanism can achieve accurate docking tasks, which is expected to provide technical guidance and reference for unmanned vehicles docking technology.\u0000\u0000\u0000Originality/value\u0000This research can provide technical guidance and reference for spatial docking task of unmanned vehicles under the ground conditions. It can also provide ideas for space docking missions, such as space simulator docking.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122619900","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Dynamic cyclic kitting part-feeding scheduling for mixed-model assembly line by a hybrid quantum-behaved particle swarm optimization","authors":"Binghai Zhou, Yufan Huang","doi":"10.1108/ria-07-2022-0188","DOIUrl":"https://doi.org/10.1108/ria-07-2022-0188","url":null,"abstract":"\u0000Purpose\u0000The purpose of this paper is to cut down energy consumption and eliminate production waste on mixed-model assembly lines. Therefore, a supermarket integrated dynamic cyclic kitting system with the application of electric vehicles (EVs) is introduced. The system resorts to just-in-time (JIT) and segmented sub-line assignment strategies, with the objectives of minimizing line-side inventory and energy consumption.\u0000\u0000\u0000Design/methodology/approach\u0000Hybrid opposition-based learning and variable neighborhood search (HOVMQPSO), a multi-objective meta-heuristics algorithm based on quantum particle swarm optimization is proposed, which hybridizes opposition-based learning methodology as well as a variable neighborhood search mechanism. Such algorithm extends the search space and is capable of obtaining more high-quality solutions.\u0000\u0000\u0000Findings\u0000Computational experiments demonstrated the outstanding performance of HOVQMPSO in solving the proposed part-feeding problem over the two benchmark algorithms non-dominated sorting genetic algorithm-II and quantum-behaved multi-objective particle swarm optimization. Additionally, using modified real-life assembly data, case studies are carried out, which imply HOVQMPSO of having good stability and great competitiveness in scheduling problems.\u0000\u0000\u0000Research limitations/implications\u0000The feeding problem is based on static settings in a stable manufacturing system with determined material requirements, without considering the occurrence of uncertain incidents. Current study contributes to assembly line feeding with EV assignment and could be modified to allow cooperation between EVs.\u0000\u0000\u0000Originality/value\u0000The dynamic cyclic kitting problem with sub-line assignment applying EVs and supermarkets is solved by an innovative HOVMQPSO, providing both novel part-feeding strategy and effective intelligent algorithm for industrial engineering.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125630201","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Optimization method for the assembly pose of parts considering manufacturing deviations and contact deformations","authors":"Yumin Liu, Y. Zhao, Qingyuan Lin, Shengyang Liu, Ende Ge, Wen Wang","doi":"10.1108/ria-10-2022-0249","DOIUrl":"https://doi.org/10.1108/ria-10-2022-0249","url":null,"abstract":"\u0000Purpose\u0000This paper aims to propose a framework for optimizing the pose in the assembly process of the non-ideal parts considering the manufacturing deviations and contact deformations. Furthermore, the accuracy of the method would be verified by comparing it with the other conventional methods for calculating the optimal assembly pose.\u0000\u0000\u0000Design/methodology/approach\u0000First, the surface morphology of the parts with manufacturing deviations would be modeled to obtain the skin model shapes that can characterize the specific geometric features of the part. The model can provide the basis for the subsequent contact deformation analysis. Second, the simulated non-nominal components are discretized into point cloud data, and the spatial position of the feature points is corrected. Furthermore, the evaluation index to measure the assembly quality has been established, which integrates the contact deformations and the spatial relationship of the non-nominal parts’ key feature points. Third, the improved particle swarm optimization (PSO) algorithm combined with the finite element method is applied to the process of solving the optimal pose of the assembly, and further deformation calculations are conducted based on interference detection. Finally, the feasibility of the optimal pose prediction method is verified by a case.\u0000\u0000\u0000Findings\u0000The proposed method has been well suited to solve the problem of the assembly process for the non-ideal parts with complex geometric deviations. It can obtain the reasonable assembly optimal pose considering the constraints of the surface morphological features and contact deformations. This paper has verified the effectiveness of the method with an example of the shaft-hole assembly.\u0000\u0000\u0000Research limitations/implications\u0000The method proposed in this paper has been well suited to the problem of the assembly process for the non-ideal parts with complex geometric deviations. It can obtain the reasonable assembly optimal pose considering the constraints of the surface morphological features and contact deformations. This paper has verified the method with an example of the shaft-hole assembly.\u0000\u0000\u0000Originality/value\u0000The different surface morphology influenced by manufacturing deviations will lead to the various contact behaviors of the mating surfaces. The assembly problem for the components with complex geometry is usually accompanied by deformation due to the loading during the contact process, which may further affect the accuracy of the assembly. Traditional approaches often use worst-case methods such as tolerance offsets to analyze and optimize the assembly pose. In this paper, it is able to characterize the specific parts in detail by introducing the skin model shapes represented with the point cloud data. The dynamic changes in the parts' contact during the fitting process are also considered. Using the PSO method that takes into account the contact deformations improve the accuracy by 60.7% over the original method that uses ge","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132863790","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A novel human-robot skill transfer method for contact-rich manipulation task","authors":"Jiale Dong, Weiyong Si, Chenguang Yang","doi":"10.1108/ria-01-2023-0002","DOIUrl":"https://doi.org/10.1108/ria-01-2023-0002","url":null,"abstract":"\u0000Purpose\u0000The purpose of this paper is to enhance the robot’s ability to complete multi-step contact tasks in unknown or dynamic environments, as well as the generalization ability of the same task in different environments.\u0000\u0000\u0000Design/methodology/approach\u0000This paper proposes a framework that combines learning from demonstration (LfD), behavior tree (BT) and broad learning system (BLS). First, the original dynamic motion primitive is modified to have a better generalization ability for representing motion primitives. Then, a BT based on tasks is constructed, which will select appropriate motion primitives according to the environment state and robot ontology state, and then the BLS will generate specific parameters of the motion primitives based on the state. The weights of the BLS can also be optimized after each successful execution.\u0000\u0000\u0000Findings\u0000The authors carried out the tasks of cleaning the desktop and assembling the shaft hole on Baxter and Elite robots, respectively, and both tasks were successfully completed, which proved the effectiveness of the framework.\u0000\u0000\u0000Originality/value\u0000This paper proposes a framework that combines LfD, BT and BLS. To the best of the authors’ knowledge, no similar methods were found in other people’s work. Therefore, the authors believe that this work is original.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129790164","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Research on control of electro-hydraulic servo system based on third-order linear ADRC","authors":"Bing-Tuan Gao, Wei Zhang, Lintao Zheng, Hongjian Zhao","doi":"10.1108/ria-10-2022-0247","DOIUrl":"https://doi.org/10.1108/ria-10-2022-0247","url":null,"abstract":"\u0000Purpose\u0000The purpose of this paper is to design a third-order linear active disturbance rejection controller (LADRC) to improve the response characteristics and robustness of the electrohydraulic servo system.\u0000\u0000\u0000Design/methodology/approach\u0000The LADRC was designed by replacing the nonlinear functions in each part of ADRC with linear functions or linear combinations, and the parameters of each part of the LADRC were connected with their bandwidth through the pole configuration method to reduce the required tuning parameters, and used an improved grey wolf optimizer to tune the LADRC parameters.\u0000\u0000\u0000Findings\u0000The anti-interference control simulation and experiment on the LADRC, ADRC and proportion integration differentiation (PID) were carried out to test the robustness, anti-interference ability and superiority of the designed LADRC. The simulation and experiment results showed that the LADRC control and anti-interference control had excellent performance, and because of its simple structure and fewer parameters, LADRC was easier to implement and had a better control effect and anti-interference.\u0000\u0000\u0000Originality/value\u0000For the problems of parameter perturbation, unknown interference and inaccurate model in the electrohydraulic position servo system, the designed third-order LADRC has good tracking accuracy and anti-interference, has few parameters and is conducive to promotion.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121081526","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}