Cross Coupling Active Disturbance Rejection Control of Pneumatic Parallel Manipulator

Xiaoyao Zhang; Tao Wang; Bo Wang

doi:10.23919/CCC55666.2022.9901704

Cross Coupling Active Disturbance Rejection Control of Pneumatic Parallel Manipulator

Xiaoyao Zhang, Tao Wang, Bo Wang

Beijing Institute of Technology

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

3 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 41st Chinese Control Conference, CCC 2022
Editors	Zhijun Li, Jian Sun
Publisher	IEEE Computer Society
Pages	2797-2802
Number of pages	6
ISBN (Electronic)	9789887581536
DOIs	https://doi.org/10.23919/CCC55666.2022.9901704
Publication status	Published - 2022
Event	41st Chinese Control Conference, CCC 2022 - Hefei, China Duration: 25 Jul 2022 → 27 Jul 2022

Publication series

Name	Chinese Control Conference, CCC
Volume	2022-July
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	41st Chinese Control Conference, CCC 2022
Country/Territory	China
City	Hefei
Period	25/07/22 → 27/07/22

Keywords

active disturbance rejection control
cross coupling
parallel manipulator
pneumatic-driven control

Access to Document

10.23919/CCC55666.2022.9901704

Cite this

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title = "Cross Coupling Active Disturbance Rejection Control of Pneumatic Parallel Manipulator",

abstract = "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.",

keywords = "active disturbance rejection control, cross coupling, parallel manipulator, pneumatic-driven control",

author = "Xiaoyao Zhang and Tao Wang and Bo Wang",

note = "Publisher Copyright: {\textcopyright} 2022 Technical Committee on Control Theory, Chinese Association of Automation.; 41st Chinese Control Conference, CCC 2022 ; Conference date: 25-07-2022 Through 27-07-2022",

year = "2022",

doi = "10.23919/CCC55666.2022.9901704",

language = "English",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "2797--2802",

editor = "Zhijun Li and Jian Sun",

booktitle = "Proceedings of the 41st Chinese Control Conference, CCC 2022",

address = "United States",

}

Zhang, X, Wang, T & Wang, B 2022, Cross Coupling Active Disturbance Rejection Control of Pneumatic Parallel Manipulator. in Z Li & J Sun (eds), Proceedings of the 41st Chinese Control Conference, CCC 2022. Chinese Control Conference, CCC, vol. 2022-July, IEEE Computer Society, pp. 2797-2802, 41st Chinese Control Conference, CCC 2022, Hefei, China, 25/07/22. https://doi.org/10.23919/CCC55666.2022.9901704

Cross Coupling Active Disturbance Rejection Control of Pneumatic Parallel Manipulator. / Zhang, Xiaoyao; Wang, Tao ; Wang, Bo.
Proceedings of the 41st Chinese Control Conference, CCC 2022. ed. / Zhijun Li; Jian Sun. IEEE Computer Society, 2022. p. 2797-2802 (Chinese Control Conference, CCC; Vol. 2022-July).

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

TY - GEN

T1 - Cross Coupling Active Disturbance Rejection Control of Pneumatic Parallel Manipulator

AU - Zhang, Xiaoyao

AU - Wang, Tao

AU - Wang, Bo

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

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M3 - Conference contribution

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BT - Proceedings of the 41st Chinese Control Conference, CCC 2022

A2 - Li, Zhijun

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PB - IEEE Computer Society

T2 - 41st Chinese Control Conference, CCC 2022

Y2 - 25 July 2022 through 27 July 2022

ER -

Cross Coupling Active Disturbance Rejection Control of Pneumatic Parallel Manipulator

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