A motion control design through variable structure controller based on extended state observe

Tianxu Jin; Jie Chen; Yongqiang Bai

doi:10.1109/MESA.2008.4735688

A motion control design through variable structure controller based on extended state observe

Tianxu Jin^*, Jie Chen, Yongqiang Bai

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

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

10 Citations (Scopus)

Abstract

A new control solution to motion control problems is proposed. It is through variable structure controller (VSC) based on extended state observer (ESO), where the disturbances and high-order factors are estimated and compensated using ESO. The dynamic compensation reduces the motion system to approximately a triple integrator which can be easily controlled using VSC. The controller is inherently robust against plant variations because of VSC. Through hardware tests, it is shown that the proposed approach is superior to the engineering PID and general VSC. And because ESO provides a high-frequency path for the dynamic state which is not modeling, the chatter of VSC is reduced.

Original language	English
Title of host publication	2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008
Pages	399-402
Number of pages	4
DOIs	https://doi.org/10.1109/MESA.2008.4735688
Publication status	Published - 2008
Event	2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008 - Beijing, China Duration: 12 Dec 2008 → 15 Dec 2008

Publication series

Name	2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008

Conference

Conference	2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008
Country/Territory	China
City	Beijing
Period	12/12/08 → 15/12/08

Access to Document

10.1109/MESA.2008.4735688

Cite this

Jin, T., Chen, J., & Bai, Y. (2008). A motion control design through variable structure controller based on extended state observe. In 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008 (pp. 399-402). Article 4735688 (2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008). https://doi.org/10.1109/MESA.2008.4735688

Jin, Tianxu ; Chen, Jie ; Bai, Yongqiang. / A motion control design through variable structure controller based on extended state observe. 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008. 2008. pp. 399-402 (2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008).

@inproceedings{73e78f23417441dbb91b24f8d40505f2,

title = "A motion control design through variable structure controller based on extended state observe",

abstract = "A new control solution to motion control problems is proposed. It is through variable structure controller (VSC) based on extended state observer (ESO), where the disturbances and high-order factors are estimated and compensated using ESO. The dynamic compensation reduces the motion system to approximately a triple integrator which can be easily controlled using VSC. The controller is inherently robust against plant variations because of VSC. Through hardware tests, it is shown that the proposed approach is superior to the engineering PID and general VSC. And because ESO provides a high-frequency path for the dynamic state which is not modeling, the chatter of VSC is reduced.",

author = "Tianxu Jin and Jie Chen and Yongqiang Bai",

year = "2008",

doi = "10.1109/MESA.2008.4735688",

language = "English",

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series = "2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008",

pages = "399--402",

booktitle = "2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008",

note = "2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008 ; Conference date: 12-12-2008 Through 15-12-2008",

}

Jin, T, Chen, J & Bai, Y 2008, A motion control design through variable structure controller based on extended state observe. in 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008., 4735688, 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008, pp. 399-402, 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008, Beijing, China, 12/12/08. https://doi.org/10.1109/MESA.2008.4735688

A motion control design through variable structure controller based on extended state observe. / Jin, Tianxu; Chen, Jie; Bai, Yongqiang.
2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008. 2008. p. 399-402 4735688 (2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008).

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

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AB - A new control solution to motion control problems is proposed. It is through variable structure controller (VSC) based on extended state observer (ESO), where the disturbances and high-order factors are estimated and compensated using ESO. The dynamic compensation reduces the motion system to approximately a triple integrator which can be easily controlled using VSC. The controller is inherently robust against plant variations because of VSC. Through hardware tests, it is shown that the proposed approach is superior to the engineering PID and general VSC. And because ESO provides a high-frequency path for the dynamic state which is not modeling, the chatter of VSC is reduced.

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BT - 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008

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Jin T, Chen J, Bai Y. A motion control design through variable structure controller based on extended state observe. In 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008. 2008. p. 399-402. 4735688. (2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008). doi: 10.1109/MESA.2008.4735688

A motion control design through variable structure controller based on extended state observe

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