Angle Tracking Adaptive Backstepping Control for a Mechanism of Pneumatic Muscle Actuators via an AESO

被引：62

作者：

Zhao, Ling ^{[1
,2
]}

Cheng, Haiyan ^{[1
,3
]}

Xia, Yuanqing ^{[2
]}

Liu, Bo ^{[4
]}

机构：

[1] Yanshan Univ, Sch Mech Engn, Qinhuangdao 066004, Peoples R China

[2] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China

[3] State Key Lab Fluid Power & Mechatron Syst, Hangzhou 310027, Zhejiang, Peoples R China

[4] King Fahd Univ Petr & Minerals, Ctr Energy & Geo Proc, Dhahran 31261, Saudi Arabia

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2019年 / 66卷 / 06期

基金：

中国国家自然科学基金; 北京市自然科学基金;

关键词：

Adaptive backstepping control; adaptive extended state observer (AESO); parallel D-eigenvalue (PD-eigenvalue); time-varying multiplier; DISTURBANCE REJECTION CONTROL; SLIDING MODE; SYSTEM; HYSTERESIS;

D O I：

10.1109/TIE.2018.2860527

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an adaptive backstepping controller for a mechanism of pneumatic muscle actuators via an adaptive extended state observer. A dynamic model of the mechanism is established with two unknown parameters estimated by using adaptive laws. An adaptive extended state observer is established to estimate total disturbances and states of the mechanism. Moreover, adaptive extended state observer gains are obtained by adaptive laws and parallel D-eigenvalues, whose time-varyingmultiplier nth-order derivatives are derived by tracking differentiators. Finally, a nonlinear adaptive backstepping controller is designed and the effectiveness of the proposed method is expressed by experimental results.

引用

页码：4566 / 4576

页数：11

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