LAUSR

Clamping force control system is essential for clamping tasks that require high precision. In this paper, Active Disturbance Rejection Controller (ADRC) is applied for clamping force control system, aiming to achieve higher control precision. Furthermore, the CPSO-ADRC system is proposed and implemented by optimizing the critical parameters of ordinary ADRC using chaos particle swarm optimization (CPSO) algorithm. To verify the effectiveness of CPSO-ADRC, Particle Swarm Optimization- (PSO-) ADRC is introduced as a comparison. The simulation results show that the CPSO-ADRC can effectively improve the control quality with faster dynamic response and better command tracking performance compared to ordinary ADRC and PSO-ADRC.