Inspection Robot based on ADRC

An inspection robot based on ADRC uses Active Disturbance Rejection Control to achieve stable and accurate movement.

The paper highlights how ADRC enhances the dynamic response of the inspection robot, allowing it to adapt to uneven terrains and unpredictable conditions. It also focuses on trajectory tracking and error minimization, ensuring precise operation in real-time environments. Simulation and experimental results demonstrate that ADRC offers better robustness than PID control under various disturbances. The proposed control strategy helps maintain high inspection efficiency and system stability. Overall, the study proves ADRC’s effectiveness in improving the autonomy and reliability of inspection robots for industrial and field applications.