{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,18]],"date-time":"2026-06-18T15:58:52Z","timestamp":1781798332181,"version":"3.54.5"},"reference-count":33,"publisher":"Emerald","issue":"5","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023,8,9]]},"abstract":"<jats:sec>\n                  <jats:title>Purpose<\/jats:title>\n                  <jats:p>An active disturbance rejection controller (ADRC) based on model compensation is proposed in this paper. The method should first be taken a nominal model of the robot to compensate. Subsequently, the uncertain external disturbance is estimated and compensated is used an expansion state observer (ESO) in real time, which can reduce the estimating range of observation for ESO. The purpose of this paper is to suggest a novel method to improve the system tracking performance, as well as the dynamic and static performance index.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Design\/methodology\/approach<\/jats:title>\n                  <jats:p>A welding robot is a complicated system with uncertainty, time-varying, strong coupling and a nonlinear system; it is more complex as if it is used in an underwater environment, and it is difficult to establish an accurate dynamic model for an underwater welding robot. Aiming at the tracking control of an underwater welding robot, it is difficult to achieve the control performance requirements by the conventional proportional integral derivative method to realize automatic tracking of the seam.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Findings<\/jats:title>\n                  <jats:p>The simulation experiment is carried out by MATLAB\/Simulink, and the application experiment is recorded. The experimental results show that the control method is correct and effective, and the system\u2019s tracking performance is stable, and the robustness and tracking accuracy of the system are also improved.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Originality\/value<\/jats:title>\n                  <jats:p>The seam gets plumper and smoother, with better continuity and no undercut phenomenon.<\/jats:p>\n               <\/jats:sec>","DOI":"10.1108\/ir-11-2022-0274","type":"journal-article","created":{"date-parts":[[2023,2,15]],"date-time":"2023-02-15T10:47:40Z","timestamp":1676458060000},"page":"731-739","source":"Crossref","is-referenced-by-count":5,"title":["Research on active disturbance rejection control technique for underwater welding robot based on model compensation"],"prefix":"10.1108","volume":"50","author":[{"given":"Shengqian","family":"Li","sequence":"first","affiliation":[{"name":"School of Electrical Engineering , Guangdong Mechanical and Electrical\u00a0Polytechnic, Guangzhou,","place":["China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaofan","family":"Zhang","sequence":"additional","affiliation":[{"name":"Guangdong Polytechnic Normal University School of Automobile and Transportation Engineering, , Guangzhou,","place":["China"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"140","published-online":{"date-parts":[[2023,2,17]]},"reference":[{"key":"2025072819425130200_ref001","first-page":"317","article-title":"A PD-type regulator with exact gravity cancellation for robots with flexible joints","volume-title":"China: 2011 IEEE International Conference on Robotics and Automation","author":"Alessandro","year":"2011"},{"key":"2025072819425130200_ref002","doi-asserted-by":"crossref","first-page":"90","DOI":"10.1016\/j.ins.2019.03.081","article-title":"Event-triggered predictor-based control with gain-scheduling and extended state observer for networked 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