Contour Tracking by Hybrid Force/Velocity Controlled Grinding: Comparison of Controllers ADRC - PID

In this study, grinding operation was performed on a work-piece with an unknown shape. As the control strategy, hybrid force/velocity control method was utilized using a PID controller and an Active Disturbance Rejection Controller (ADRC). Both control structures were implemented on an experimental setup and the results were compared. Results show that significant amount of effort can be saved in grinding operation on a work-piece with an unknown shape due to the elimination of CAD model dependent path planning processes.