Trajectory tracking control for double-joint manipulator systems driven by pneumatic artificial muscles based on a nonlinear extended state observer

Liu, Zhao; Liu, Xin; Wang, Tao

doi:10.1016/j.ymssp.2018.12.016

Cited by 65 publications

(26 citation statements)

References 34 publications

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“…In practice, the disturbances included both the continuous and discontinuous terms. The NESO [43], [44] is well-known as the disturbance rejection with the continuous term. Furthermore, the control design procedure is implemented based on the Barrier Lyapunov function to handle the time-varying output constraints of the controlled system.…”

Section: Proposed Controlmentioning

confidence: 99%

Nonlinear Extended State Observer Based on Output Feedback Control for a Manipulator With Time-Varying Output Constraints and External Disturbance

2019

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This paper presents an adaptive output feedback control for a manipulator under the presence of the time-varying output constraint and uncertainties. The proposed control is formulated based on a nonlinear extended state observer and a barrier Lyapunov function. The nonlinear extended state observer is developed to estimate the unmeasured states and the lumped uncertainties. Because the observer term in the nonlinear observer includes a linear term and a fractional-order term, its performance is enhanced significantly. Additionally, the barrier Lyapunov function is applied to guarantee the time-varying output constraint, which changes with respect to the desired trajectory in time. The asymptotic stability and output constraint satisfaction are theoretically demonstrated by using the Lyapunov theory. Finally, some simulations are conducted on a 3-DOF manipulator to verify the effectiveness of the proposed control.INDEX TERMS Adaptive control, barrier Lyapunov function, nonlinear extended state observer, time-varying output constraint, uncertain manipulator.

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Section: Proposed Controlmentioning

confidence: 99%

Nonlinear Extended State Observer Based on Output Feedback Control for a Manipulator With Time-Varying Output Constraints and External Disturbance

2019

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“…The dynamic model of the PAM is very difficult for practical control and use because of the presence of high nonlinearity. Zhao et al [13] modeled a nonlinear extended state observer (NESO) for double-joint manipulator systems which is actuated by artificial muscles with a trajectory tracking control strategy. Further, a motion mechanism of PAM based on NESO is studied by considering dead-zones of the muscles with an adaptive control method [14].…”

Section: Introductionmentioning

confidence: 99%

Pneumatic Artificial Muscle Actuator Under Parametric and Hard Excitations

Kalita¹,

Dwivedy²

2021

Preprint

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In this work, a single degree of freedom system consisting of a mass and a Pneumatic Artificial Muscle (PAM) subjected to time varying pressure inside the muscle is considered. The system is subjected to hard excitation and the governing equation of motion is found to be that of a nonlinear forced and parametrically excited system under super- and sub-harmonic resonance conditions. The solution of the nonlinear governing equation of motion is obtained using the method of multiple scales (MMS). The time and frequency response, phase portraits and basin of attraction have been plotted to study the system response along with the stability and bifurcations. Further, the different muscle parameters have been evaluated by performing experiments which are further used for numerically evaluating the system response using the theoretically obtained closed form equations. The responses obtained from the experiments are found to be in good agreement with those obtained from the method of multiple scales. With the help of examples, the procedure to obtain the safe operating range of different system parameters have been illustrated.

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“…One is based on the modification of the conventional linear controllers such as friction compensation-based linear controller, proportional-integral-derivative gain scheduling techniques and intelligent control-based controller [3][4][5]. To further enhance the achievable performance, another research effort has paid attention to the model-based nonlinear control strategies such as self-tuning control, model reference adaptive control, disturbance-observer-based control and adaptive robust control [6][7][8][9][10][11].…”

Section: Introductionmentioning

confidence: 99%

Output feedback motion control of pneumatic servo systems with desired compensation approach

Wei-ping

Meng

2020

J Braz. Soc. Mech. Sci. Eng.

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In this study, an output feedback control strategy for the pneumatic asymmetric cylinder is established by integrating a robust controller with the proposed desired compensation adaptive law and extended sliding mode observer (ESMO). Specifically, in order to attenuate the parametric uncertainties, a desired compensation indirect-type estimation method, based on physical model and desired system states, is designed to achieve estimates of model parameters, and the parameter estimation error can be regarded as part of the lumped uncertainties. Since only displacement signal is available, both the unmeasured system states and lumped uncertainties are estimated by the proposed ESMO, and the global stability is guaranteed by the presented robust control law. As a result, structured (i.e., parametric uncertainties) and unstructured (i.e., lumped uncertainties such as unmodeled dynamics, external disturbance and parameter estimation error) uncertainties can be handled and compensated, respectively, in one controller. The comparative experimental results indicate that the prescribed tracking trajectory can be achieved by the proposed controller in the presence of time-varying uncertainties.

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Trajectory tracking control for double-joint manipulator systems driven by pneumatic artificial muscles based on a nonlinear extended state observer

Cited by 65 publications

References 34 publications

Nonlinear Extended State Observer Based on Output Feedback Control for a Manipulator With Time-Varying Output Constraints and External Disturbance

Nonlinear Extended State Observer Based on Output Feedback Control for a Manipulator With Time-Varying Output Constraints and External Disturbance

Pneumatic Artificial Muscle Actuator Under Parametric and Hard Excitations

Output feedback motion control of pneumatic servo systems with desired compensation approach

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