TY - GEN
T1 - Linear Active Disturbance Rejection Control of Pneumatic Translational Parallel Manipulator with Consideration of Position Error Compensation
AU - Zhu, Aidong
AU - Wang, Tao
AU - Wang, Bo
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/8
Y1 - 2020/8
N2 - For joint space control of the pneumatic translational parallel manipulator, in order to improve the tracking accuracy of the space trajectory, not only the tracking error of a single driving limb needs to be reduced, but also the coupling of driving limbs and the motion coordination need to be considered. A linear active disturbance rejection control with consideration of position error compensation is proposed for pneumatic translational parallel manipulator. A linear active disturbance rejection controller is used for single driving limb to overcome the compressibility of the gas, the time-varying load and the friction. In addition, position error compensation is used to solve the problem of the motion coordination, further reducing tracking error of space trajectory. The effectiveness of the control strategy is verified by experiment.
AB - For joint space control of the pneumatic translational parallel manipulator, in order to improve the tracking accuracy of the space trajectory, not only the tracking error of a single driving limb needs to be reduced, but also the coupling of driving limbs and the motion coordination need to be considered. A linear active disturbance rejection control with consideration of position error compensation is proposed for pneumatic translational parallel manipulator. A linear active disturbance rejection controller is used for single driving limb to overcome the compressibility of the gas, the time-varying load and the friction. In addition, position error compensation is used to solve the problem of the motion coordination, further reducing tracking error of space trajectory. The effectiveness of the control strategy is verified by experiment.
KW - Coordination control
KW - Linear active disturbance rejection control
KW - Pneumatic translational parallel manipulator
UR - http://www.scopus.com/inward/record.url?scp=85091557266&partnerID=8YFLogxK
U2 - 10.1109/CCDC49329.2020.9164436
DO - 10.1109/CCDC49329.2020.9164436
M3 - Conference contribution
AN - SCOPUS:85091557266
T3 - Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020
SP - 440
EP - 443
BT - Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 32nd Chinese Control and Decision Conference, CCDC 2020
Y2 - 22 August 2020 through 24 August 2020
ER -