1. A Sampled-Data Approach to Nonlinear ESO-Based Active Disturbance Rejection Control for Pneumatic Muscle Actuator Systems with Actuator Saturations
- Author
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Lei Guo, Yang Yu, Zidong Wang, and Yuan Yuan
- Subjects
Disturbance (geology) ,Computer science ,020208 electrical & electronic engineering ,02 engineering and technology ,Active disturbance rejection control ,Compensation (engineering) ,Nonlinear system ,Control and Systems Engineering ,Control theory ,0202 electrical engineering, electronic engineering, information engineering ,State observer ,Electrical and Electronic Engineering ,Robust control ,Pneumatic muscle actuator ,Actuator - Abstract
In this paper, an active disturbance rejection control scheme with a nonlinear sampled-data extended state observer (NSESO) is proposed for a pneumatic muscle actuator (PMA) system. The phenomenon of the actuator saturation is taken into account in the design procedure. The NSESO is utilized to estimate the so-called total disturbance that reflects the aggregated impacts of unmodeled nonlinearities and disturbances. Then, an NSESO-based composite control strategy is designed, where the estimates provided by the designed NSESO serve as the compensation to eliminate the total disturbance. Finally, a number of practical experiments on the PMA systems are conducted to verify the validity and applicability of the proposed design method.
- Published
- 2019