A reduced-order extended state observer–based trajectory tracking control for one-degree-of-freedom pneumatic manipulator

Ling Zhao; Xin Liu; Tao Wang; Bo liu

doi:10.1177/1687814018767289

A reduced-order extended state observer–based trajectory tracking control for one-degree-of-freedom pneumatic manipulator

Ling Zhao^*, Xin Liu, Tao Wang, Bo liu

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Contribution to journal › Article › peer-review

4 Citations (Scopus)

Abstract

In this article, a reduced-order extended state observer is proposed to deal with uncertainties and disturbances in tracking control for a one-degree-of-freedom manipulator pneumatic system. A tracking differentiator is designed to generate a smooth tracking signal and a corresponding differential signal of the reference input. A non-linear state error feedback is adopted to ensure the response rapidity and control precision. Furthermore, stability analysis of the proposed reduced-order extended state observer and the closed-loop system is also presented. Finally, the experimental results show the efficiency of the proposed scheme for the one-degree-of-freedom manipulator pneumatic system.

Original language	English
Journal	Advances in Mechanical Engineering
Volume	10
Issue number	4
DOIs	https://doi.org/10.1177/1687814018767289
Publication status	Published - 1 Apr 2018

Keywords

Reduced-order extended state observer
one-degree-of-freedom manipulator
pneumatic artificial muscle
stability analysis
tracking control

Access to Document

10.1177/1687814018767289

Cite this

@article{f7c03dd00c7f478ca98a86e473c81e2b,

title = "A reduced-order extended state observer–based trajectory tracking control for one-degree-of-freedom pneumatic manipulator",

abstract = "In this article, a reduced-order extended state observer is proposed to deal with uncertainties and disturbances in tracking control for a one-degree-of-freedom manipulator pneumatic system. A tracking differentiator is designed to generate a smooth tracking signal and a corresponding differential signal of the reference input. A non-linear state error feedback is adopted to ensure the response rapidity and control precision. Furthermore, stability analysis of the proposed reduced-order extended state observer and the closed-loop system is also presented. Finally, the experimental results show the efficiency of the proposed scheme for the one-degree-of-freedom manipulator pneumatic system.",

keywords = "Reduced-order extended state observer, one-degree-of-freedom manipulator, pneumatic artificial muscle, stability analysis, tracking control",

author = "Ling Zhao and Xin Liu and Tao Wang and Bo liu",

note = "Publisher Copyright: {\textcopyright} 2018, {\textcopyright} The Author(s) 2018.",

year = "2018",

month = apr,

day = "1",

doi = "10.1177/1687814018767289",

language = "English",

volume = "10",

journal = "Advances in Mechanical Engineering",

issn = "1687-8132",

publisher = "SAGE Publications Inc.",

number = "4",

}

TY - JOUR

T1 - A reduced-order extended state observer–based trajectory tracking control for one-degree-of-freedom pneumatic manipulator

AU - Zhao, Ling

AU - Liu, Xin

AU - Wang, Tao

AU - liu, Bo

PY - 2018/4/1

Y1 - 2018/4/1

N2 - In this article, a reduced-order extended state observer is proposed to deal with uncertainties and disturbances in tracking control for a one-degree-of-freedom manipulator pneumatic system. A tracking differentiator is designed to generate a smooth tracking signal and a corresponding differential signal of the reference input. A non-linear state error feedback is adopted to ensure the response rapidity and control precision. Furthermore, stability analysis of the proposed reduced-order extended state observer and the closed-loop system is also presented. Finally, the experimental results show the efficiency of the proposed scheme for the one-degree-of-freedom manipulator pneumatic system.

AB - In this article, a reduced-order extended state observer is proposed to deal with uncertainties and disturbances in tracking control for a one-degree-of-freedom manipulator pneumatic system. A tracking differentiator is designed to generate a smooth tracking signal and a corresponding differential signal of the reference input. A non-linear state error feedback is adopted to ensure the response rapidity and control precision. Furthermore, stability analysis of the proposed reduced-order extended state observer and the closed-loop system is also presented. Finally, the experimental results show the efficiency of the proposed scheme for the one-degree-of-freedom manipulator pneumatic system.

KW - Reduced-order extended state observer

KW - one-degree-of-freedom manipulator

KW - pneumatic artificial muscle

KW - stability analysis

KW - tracking control

UR - http://www.scopus.com/inward/record.url?scp=85046624831&partnerID=8YFLogxK

U2 - 10.1177/1687814018767289

DO - 10.1177/1687814018767289

M3 - Article

AN - SCOPUS:85046624831

SN - 1687-8132

VL - 10

JO - Advances in Mechanical Engineering

JF - Advances in Mechanical Engineering

IS - 4

ER -

A reduced-order extended state observer–based trajectory tracking control for one-degree-of-freedom pneumatic manipulator

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this