Position control for a two-joint robot finger system driven by pneumatic artificial muscles

2017 ◽  
Vol 40 (4) ◽  
pp. 1328-1339 ◽  
Author(s):  
Ling Zhao ◽  
Linlin Ge ◽  
Tao Wang
Keyword(s):  
Disturbance Rejection ◽  
Position Control ◽  
Artificial Muscles ◽  
Extended State ◽  
Precision Control ◽  
Control Approach ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Pneumatic Artificial Muscles ◽  
The Stability

In this paper, position control is addressed for a two-joint robot finger system driven by pneumatic artificial muscles. It is hard to obtain high precision control for a two-joint robot finger system due to coupling and nonlinearities. A two-input and two-output decoupling problem is solved via active disturbance rejection control without complicated calculations. An extended state observer is designed to estimate the nonlinearities. Furthermore, the stability of the two-joint robot finger system is shown by a back-stepping method. Results from experiments are demonstrated to show the effectiveness of the proposed control approach.

Research on Modeling and Simulation of Active Disturbance Rejection Controller for Gas Turbine

2012 ◽  
Vol 157-158 ◽  
pp. 507-510 ◽  
Author(s):  
Jun Peng Jiang ◽  
Qing Zhang ◽  
Le Ping Wang
Keyword(s):  
Mathematical Model ◽  
Gas Turbine ◽  
Disturbance Rejection ◽  
Sampling Period ◽  
Extended State ◽  
Turbine Engine ◽  
Control Approach ◽  
Active Disturbance Rejection ◽  
Internal Disturbance ◽  
The Stability

In this paper, a novel control approach is presented for a gas turbine. The approach is based on the active disturbance rejection concept, which can design an Active Disturbance Rejection Controller (ADRC) without an explicit mathematical model of the plant. The controller regards the friction and the coupling effects of several main subassemblies as the internal disturbance. And it can estimate and compensate the disturbances using the Extended State Observer (ESO) in the each sampling period. Hence ADRC is robust against the variations of plant. Using the parameters of turbine engine Titan 130 the simulation was developed. Through the results of simulation, it is verified that the proposed approach is superior to the classical PID regulator in maintaining the stability.

Disturbance rejection control of airborne radar stabilized platform based on active disturbance rejection control inverse estimation algorithm

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Dong Mei ◽  
Zhu-Qing Yu
Keyword(s):  
Disturbance Rejection ◽  
Estimation Algorithm ◽  
Airborne Radar ◽  
Extended State ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Inverse Estimation ◽  
The Stability ◽  
Stabilized Platform

Purpose This paper aims to study a disturbance rejection controller to improve the anti-interference capability and the position tracking performance of airborne radar stabilized platform that ensures the stability and clarity of synthetic aperture radar imaging. Design/methodology/approach This study proposes a disturbance rejection control scheme for an airborne radar stabilized platform based on the active disturbance rejection control (ADRC) inverse estimation algorithm. Exploiting the extended state observer (ESO) characteristic, an inversely ESO is developed to inverse estimate the unmodeled state and extended state of the platform system known as total disturbances, which greatly improves the estimation performance of the disturbance. Then, based on the inverse ESO result, feedback the difference between the output of the tracking differentiator and the inverse ESO result to the nonlinear state error feedback controller (NLSEF) to eliminate the effects of total disturbance and ensure the stability of the airborne radar stabilized platform. Findings Simulation experiments are adopted to compare the performance of the ADRC inverse estimation algorithm with that of the proportional integral derivative controller which is one of the mostly applied control schemes in platform systems. In addition, classical ADRC is compared as well. The results have shown that the ADRC inverse estimation algorithm has a better disturbance rejection performance when disturbance acts in airborne radar stabilized platform, especially disturbed by continuous airflow under some harsh air conditions. Originality/value The originality of this paper is exploiting the ESO characteristic to develop an inverse ESO, which greatly improves the estimation performance of the disturbance. And the ADRC inverse estimation algorithm is applied to ameliorate the anti-interference ability of the airborne radar stabilization platform, especially the ability to suppress continuous interference under complex air conditions.

scholarly journals High-Order Sliding Mode-Based Fixed-Time Active Disturbance Rejection Control for Quadrotor Attitude System

Electronics ◽  
2018 ◽  
Vol 7 (12) ◽  
pp. 357 ◽  
Author(s):  
Chunlin Song ◽  
Changzhu Wei ◽  
Feng Yang ◽  
Naigang Cui
Keyword(s):  
Disturbance Rejection ◽  
Sliding Mode ◽  
Fixed Time ◽  
High Order ◽  
Extended State Observer ◽  
Active Disturbance Rejection Control ◽  
Extended State ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Scheme

This article presents a fixed-time active disturbance rejection control approach for the attitude control problem of quadrotor unmanned aerial vehicle in the presence of dynamic wind, mass eccentricity and an actuator fault. The control scheme applies the feedback linearization technique and enhances the performance of the traditional active disturbance rejection control (ADRC) based on the fixed-time high-order sliding mode method. A switching-type uniformly convergent differentiator is used to improve the extended state observer for estimating and attenuating the lumped disturbance more accurately. A multivariable high-order sliding mode feedback law is derived to achieve fixed time convergence. The timely convergence of the designed extended state observer and the feedback law is proved theoretically. Mathematical simulations with detailed actuator models and real time experiments are performed to demonstrate the robustness and practicability of the proposed control scheme.

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