A reduced-order extended state observer-based trajectory tracking control for one-degree-of-freedom pneumatic manipulator

被引：2

作者：

Zhao, Ling ^{[1
]}

Liu, Xin ^{[1
]}

Wang, Tao ^{[2
]}

Liu, Bo ^{[3
]}

机构：

[1] Yanshan Univ, Sch Mech Engn, Hebei Prov Key Lab Heavy Machinery Fluid Power Tr, Qinhuangdao, Peoples R China

[2] Beijing Inst Technol, Sch Automat, Beijing, Peoples R China

[3] King Fahd Univ Petr & Minerals, Ctr Energy & Geo Proc, Dhahran, Saudi Arabia

来源：

ADVANCES IN MECHANICAL ENGINEERING | 2018年 / 10卷 / 04期

基金：

中国国家自然科学基金;

关键词：

Reduced-order extended state observer; tracking control; stability analysis; one-degree-of-freedom manipulator; pneumatic artificial muscle; DISTURBANCE REJECTION CONTROL; RESILIENT CONTROL; CONTROL-SYSTEM; ACTUATORS; DRIVEN;

D O I：

10.1177/1687814018767289

中图分类号：

O414.1 [热力学];

学科分类号：

摘要：

In this article, a reduced-order extended state observer is proposed to deal with uncertainties and disturbances in tracking control for a one-degree-of-freedom manipulator pneumatic system. A tracking differentiator is designed to generate a smooth tracking signal and a corresponding differential signal of the reference input. A non-linear state error feedback is adopted to ensure the response rapidity and control precision. Furthermore, stability analysis of the proposed reduced-order extended state observer and the closed-loop system is also presented. Finally, the experimental results show the efficiency of the proposed scheme for the one-degree-of-freedom manipulator pneumatic system.

引用

页数：9

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