TY - GEN
T1 - Cross Coupling Active Disturbance Rejection Control of Pneumatic Parallel Manipulator
AU - Zhang, Xiaoyao
AU - Wang, Tao
AU - Wang, Bo
N1 - Publisher Copyright:
© 2022 Technical Committee on Control Theory, Chinese Association of Automation.
PY - 2022
Y1 - 2022
N2 - In this paper, a cross-coupled active disturbance rejection controller is proposed for pneumatic parallel translational manipulators. Firstly, the dynamic model of the pneumatic parallel manipulator is established to calculate the external coupling force of driving limbs. Secondly, an active disturbance rejection controller with dynamic model compensation is proposed to deal with external disturbances such as friction, nonlinearity and gas compressibility of driving systems. In addition, the contour error defined in the manipulator workspace and the state error of the driving limb system are closed-loop controlled to further improve the effect of trajectory tracking. Finally, the proposed control strategy is applied to the experimental platform of pneumatic parallel manipulators, and the experimental results show the effectiveness of the proposed control method.
AB - In this paper, a cross-coupled active disturbance rejection controller is proposed for pneumatic parallel translational manipulators. Firstly, the dynamic model of the pneumatic parallel manipulator is established to calculate the external coupling force of driving limbs. Secondly, an active disturbance rejection controller with dynamic model compensation is proposed to deal with external disturbances such as friction, nonlinearity and gas compressibility of driving systems. In addition, the contour error defined in the manipulator workspace and the state error of the driving limb system are closed-loop controlled to further improve the effect of trajectory tracking. Finally, the proposed control strategy is applied to the experimental platform of pneumatic parallel manipulators, and the experimental results show the effectiveness of the proposed control method.
KW - active disturbance rejection control
KW - cross coupling
KW - parallel manipulator
KW - pneumatic-driven control
UR - http://www.scopus.com/inward/record.url?scp=85140479013&partnerID=8YFLogxK
U2 - 10.23919/CCC55666.2022.9901704
DO - 10.23919/CCC55666.2022.9901704
M3 - Conference contribution
AN - SCOPUS:85140479013
T3 - Chinese Control Conference, CCC
SP - 2797
EP - 2802
BT - Proceedings of the 41st Chinese Control Conference, CCC 2022
A2 - Li, Zhijun
A2 - Sun, Jian
PB - IEEE Computer Society
T2 - 41st Chinese Control Conference, CCC 2022
Y2 - 25 July 2022 through 27 July 2022
ER -