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Positioning control of a one-DOF manipulator driven by pneumatic artificial muscles based on active disturbance rejection control

机译：基于主动干扰抑制控制的气动人工肌肉驱动一自由度机械臂的定位控制

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摘要

The purpose of this paper is to study positioning control performance of the one-DOF manipulator driven by pneumatic artificial muscles using active disturbance rejection controller. Owing to the pneumatic artificial muscle's highly nonlinear and time-varying behavior, it is difficult to achieve good positioning performance. In this paper, the nonlinear and time-varying behavior of pneumatic artificial muscle is considered as disturbance to be estimated by extended state observer. Tracking differentiator is designed to get corresponding smooth signal and differential signal of reference input to avoid overshoot. A linear error feedback combining with estimated value compensation of disturbance is designed to ensure a good response of system. Moreover, stability analysis of the close-loop system is given by Lyapunov theory. Finally, simulation results verify the effectiveness of the proposed controller.
机译：本文的目的是研究使用主动干扰抑制控制器的气动人造肌肉驱动的一自由度机械臂的定位控制性能。由于气动人造肌肉的高度非线性和随时间变化的行为，因此难以获得良好的定位性能。在本文中，气动人工肌肉的非线性和时变行为被认为是由扩展状态观测器估计的扰动。跟踪微分器旨在获得参考输入的相应平滑信号和差分信号，以避免过冲。设计了线性误差反馈与扰动估计补偿相结合，以确保系统的良好响应。此外，利用李雅普诺夫理论对闭环系统进行了稳定性分析。最后，仿真结果验证了所提出控制器的有效性。

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