Event-Triggered Time-Varying ADRC Approach for Pneumatic Parallel Manipulator

Congfeng Cui; Shaomeng Gu; Jinhui Zhang

doi:10.23919/CCC52363.2021.9549767

Event-Triggered Time-Varying ADRC Approach for Pneumatic Parallel Manipulator

Congfeng Cui, Shaomeng Gu, Jinhui Zhang

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

In this paper, a novel event-triggered time-varying active disturbance rejection control (TADRC) approach is developed for pneumatic parallel robots, which can improve the performance of trajectory tracking and the capability of disturbance rejection in the case of reducing the sampling cost. The proposed TADRC includes three parts, tracking differentiator (TD), time-varying extended state observer (TESO) and time-varying nonlinear error feedback controller (TNEFC). The TESO is also provided with time-varying gains to improve the transient performance of the estimation error systems and accuracy of disturbance estimating error. Based on the TD and observation results, the proposed TNEFC can be dynamically improve the control speed and accuracy, and the closed-loop system stability is also guaranteed. Finally, the control strategy is applied to PPMs, and the simulation results are conducted to verify the efficiency.

Original language	English
Title of host publication	Proceedings of the 40th Chinese Control Conference, CCC 2021
Editors	Chen Peng, Jian Sun
Publisher	IEEE Computer Society
Pages	200-205
Number of pages	6
ISBN (Electronic)	9789881563804
DOIs	https://doi.org/10.23919/CCC52363.2021.9549767
Publication status	Published - 26 Jul 2021
Event	40th Chinese Control Conference, CCC 2021 - Shanghai, China Duration: 26 Jul 2021 → 28 Jul 2021

Publication series

Name	Chinese Control Conference, CCC
Volume	2021-July
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	40th Chinese Control Conference, CCC 2021
Country/Territory	China
City	Shanghai
Period	26/07/21 → 28/07/21

Keywords

Pneumatic parallel robots (PPRs)
active disturbance rejection control (ADRC)
event-triggered method
time-varying ESO (TESO)
time-varying NEFC (TNEFC)

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10.23919/CCC52363.2021.9549767

Cite this

@inproceedings{5e9e8327b6494cd98098275d320948d4,

title = "Event-Triggered Time-Varying ADRC Approach for Pneumatic Parallel Manipulator",

abstract = "In this paper, a novel event-triggered time-varying active disturbance rejection control (TADRC) approach is developed for pneumatic parallel robots, which can improve the performance of trajectory tracking and the capability of disturbance rejection in the case of reducing the sampling cost. The proposed TADRC includes three parts, tracking differentiator (TD), time-varying extended state observer (TESO) and time-varying nonlinear error feedback controller (TNEFC). The TESO is also provided with time-varying gains to improve the transient performance of the estimation error systems and accuracy of disturbance estimating error. Based on the TD and observation results, the proposed TNEFC can be dynamically improve the control speed and accuracy, and the closed-loop system stability is also guaranteed. Finally, the control strategy is applied to PPMs, and the simulation results are conducted to verify the efficiency.",

keywords = "Pneumatic parallel robots (PPRs), active disturbance rejection control (ADRC), event-triggered method, time-varying ESO (TESO), time-varying NEFC (TNEFC)",

author = "Congfeng Cui and Shaomeng Gu and Jinhui Zhang",

note = "Publisher Copyright: {\textcopyright} 2021 Technical Committee on Control Theory, Chinese Association of Automation.; 40th Chinese Control Conference, CCC 2021 ; Conference date: 26-07-2021 Through 28-07-2021",

year = "2021",

month = jul,

day = "26",

doi = "10.23919/CCC52363.2021.9549767",

language = "English",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

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editor = "Chen Peng and Jian Sun",

booktitle = "Proceedings of the 40th Chinese Control Conference, CCC 2021",

address = "United States",

}

Cui, C, Gu, S & Zhang, J 2021, Event-Triggered Time-Varying ADRC Approach for Pneumatic Parallel Manipulator. in C Peng & J Sun (eds), Proceedings of the 40th Chinese Control Conference, CCC 2021. Chinese Control Conference, CCC, vol. 2021-July, IEEE Computer Society, pp. 200-205, 40th Chinese Control Conference, CCC 2021, Shanghai, China, 26/07/21. https://doi.org/10.23919/CCC52363.2021.9549767

Event-Triggered Time-Varying ADRC Approach for Pneumatic Parallel Manipulator. / Cui, Congfeng; Gu, Shaomeng; Zhang, Jinhui.
Proceedings of the 40th Chinese Control Conference, CCC 2021. ed. / Chen Peng; Jian Sun. IEEE Computer Society, 2021. p. 200-205 (Chinese Control Conference, CCC; Vol. 2021-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Event-Triggered Time-Varying ADRC Approach for Pneumatic Parallel Manipulator

AU - Cui, Congfeng

AU - Gu, Shaomeng

AU - Zhang, Jinhui

PY - 2021/7/26

Y1 - 2021/7/26

N2 - In this paper, a novel event-triggered time-varying active disturbance rejection control (TADRC) approach is developed for pneumatic parallel robots, which can improve the performance of trajectory tracking and the capability of disturbance rejection in the case of reducing the sampling cost. The proposed TADRC includes three parts, tracking differentiator (TD), time-varying extended state observer (TESO) and time-varying nonlinear error feedback controller (TNEFC). The TESO is also provided with time-varying gains to improve the transient performance of the estimation error systems and accuracy of disturbance estimating error. Based on the TD and observation results, the proposed TNEFC can be dynamically improve the control speed and accuracy, and the closed-loop system stability is also guaranteed. Finally, the control strategy is applied to PPMs, and the simulation results are conducted to verify the efficiency.

AB - In this paper, a novel event-triggered time-varying active disturbance rejection control (TADRC) approach is developed for pneumatic parallel robots, which can improve the performance of trajectory tracking and the capability of disturbance rejection in the case of reducing the sampling cost. The proposed TADRC includes three parts, tracking differentiator (TD), time-varying extended state observer (TESO) and time-varying nonlinear error feedback controller (TNEFC). The TESO is also provided with time-varying gains to improve the transient performance of the estimation error systems and accuracy of disturbance estimating error. Based on the TD and observation results, the proposed TNEFC can be dynamically improve the control speed and accuracy, and the closed-loop system stability is also guaranteed. Finally, the control strategy is applied to PPMs, and the simulation results are conducted to verify the efficiency.

KW - Pneumatic parallel robots (PPRs)

KW - active disturbance rejection control (ADRC)

KW - event-triggered method

KW - time-varying ESO (TESO)

KW - time-varying NEFC (TNEFC)

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Y2 - 26 July 2021 through 28 July 2021

ER -

Event-Triggered Time-Varying ADRC Approach for Pneumatic Parallel Manipulator

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