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Bilateral output based control of a Master-Slave mechanical system: An Active Disturbance Rejection approach

机译：基于双边输出的主奴隶机械系统控制：一种主动扰动抑制方法

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摘要

In this article, a bilateral output feedback controller to solve the trajectory tracking problem of a Master-Slave mechanical system is designed. A robust disturbance rejection scheme was implemented to regulate the slave trajectory. A Linear Extended State Observer of GPI class was used to, both, estimate the non-measurable states of the mechanical systems as well as the global disturbance input, which was assumed to be a lumped signal from non-modelled dynamics and external forces in the slave side. The bilateral controller was synthesised by means of two feedback strategies: estimation of disturbances and impedance based control. Experimental results show the effectiveness of the control scheme in a manipulation task.

机译：在本文中，设计了一个双边输出反馈控制器，用于解决主从机械系统的轨迹跟踪问题。实施了强大的干扰抑制方案以调节从轨迹。 GPI类的线性扩展状态观察者，两者都估计了机械系统的不可衡量状态以及全局干扰输入，这被认为是来自非建模动态和外力的集成信号奴隶一侧。双边控制器通过两种反馈策略合成：估计干扰和基于阻抗的控制。实验结果表明控制方案在操纵任务中的有效性。

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来源
《American Control Conference》|2016年|1 v.|共6页
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作者
G. Hernández-Melgarejo; L. A. Casta?eda; A. Luviano-Juárez; I. Chairez;
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中图分类计算技术、计算机技术;
关键词
Observers; Force; Master-slave; Mechanical systems; Impedance; Robots;

机译：观察员;力量;主奴隶;机械系统;阻抗;机器人;

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专利

1. Active Disturbance Rejection Control Approach to Output-Feedback Stabilization of a Class of Uncertain Nonlinear Systems Subject to Stochastic Disturbance [J] . Bao-Zhu Guo, Ze-Hao Wu, Hua-Cheng Zhou IEEE Transactions on Automatic Control . 2016,第6期

机译：一类具有随机扰动的不确定非线性系统的输出反馈稳定化的主动扰动抑制方法
2. Active rejection control for unknown harmonic disturbances of the transverse deflection of steel strips with control input, system output, sensor output, and disturbance input at different positions [J] . Saxinger Martin, Marko Lukas, Steinboeck Andreas, Mechatronics: The Science of Intelligent Machines . 2018,第期

机译：具有控制输入，系统输出，传感器输出和不同位置的钢带横向偏转的未知谐波干扰的主动抑制控制
3. Output-based disturbance rejection control for non-linear uncertain systems with unknown frequency disturbances using an observer backstepping approach [J] . Jun Yang, Zhengtao Ding, Wen-Hua Chen, Control Theory & Applications, IET . 2016,第9期

机译：频率未知的非线性不确定系统的基于输出的干扰抑制控制
4. Bilateral output based control of a Master-Slave mechanical system: An Active Disturbance Rejection approach [C] . G. Hernández-Melgarejo, L. A. Castañeda, A. Luviano-Juárez, American Control Conference . 2016

机译：主从机械系统的基于双边输出的控制：主动扰动抑制方法
5. Adaptive control of opto-electro-mechanical systems for broadband disturbance rejection. [D] . Perez Arancibia, Nestor Osvaldo. 2007

机译：光电机械系统对宽带干扰抑制的自适应控制。
6. Optimal Fractional-Order Active Disturbance Rejection Controller Design for PMSM Speed Servo System [O] . Pengchong Chen, Ying Luo, Yibing Peng, 2021

机译：PMSM速度伺服系统的最佳分数阶主动干扰抑制控制器设计
7. Output-based disturbance rejection control for nonlinear uncertain systems with unknown frequency disturbances using an observer backstepping approach [O] . Yang, Jun, Ding, Zhengtao, Chen, Wen-Hua, 2016

机译：基于输出的干扰抑制控制方法采用观测器反演方法对未知频率扰动的非线性不确定系统进行控制

Bilateral output based control of a Master-Slave mechanical system: An Active Disturbance Rejection approach

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