刘昊, 王涛, 范伟, 赵彤, 王军政. 气动人工肌肉关节的自抗扰控制[J]. 机器人, 2011, 33(4): 461-466,508..
LIU Hao, WANG Tao, FAN Wei, ZHAO Tong, WANG Junzheng. Active Disturbance Rejection Control for the Joint Driven by PMAs. ROBOT, 2011, 33(4): 461-466,508..
Abstract:The system of a joint driven by PMAs(pneumatic muscle actuators) is a strong nonlinear time-varying self-balanced second-order system.Traditional control methods are difficult to overcome the conflict between the control accuracy, the regulating speed and the stability.A second-order active disturbance rejection control(ADRC) is designed,in which a third-order ESO(extended states observer) is adopted to estimate the non-modeling part and external disturbance in real time and to make the linear compensation for system.Meanwhile,the control efficiency is improved by a nonlinear feedback. On the premise of ensuring the stability,the adjusting speed and control accuracy is enhanced.The system's steady-state accuracy is less than 0.1°and the tracking accuracy is less than 0.5°.Even in the case of the unknown or partly known system model,the system using ADRC can still achieve a satisfactory control result.
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