Generalized Variable Gain ADRC for Nonlinear Systems and Its Application to Delta Parallel Manipulators

Shaomeng Gu; Jinhui Zhang; Yiran Li

doi:10.1109/TCSI.2022.3224746

Generalized Variable Gain ADRC for Nonlinear Systems and Its Application to Delta Parallel Manipulators

Shaomeng Gu, Jinhui Zhang^*, Yiran Li^*

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

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

7 Citations (Scopus)

Abstract

In this paper, a novel generalized variable gain active disturbance rejection control (VGADRC) method is proposed for the n -th order nonlinear system. The generalized VGADRC, including generalized variable gain tracking differentiator (VGTD), generalized variable gain extended state observer (VGESO), and generalized variable gain controller (VGC), incorporates error-based variable gains to achieve desired control performance. Moreover, the stability analysis of VGADRC is performed, and the existence of feasible solutions are discussed and expressed explicitly. Finally, the generalized VGADRC method is applied to delta parallel manipulators, and the numerical simulation results and experiment results are presented to illustrate the effectiveness of the proposed method.

Original language	English
Pages (from-to)	921-930
Number of pages	10
Journal	IEEE Transactions on Circuits and Systems I: Regular Papers
Volume	70
Issue number	2
DOIs	https://doi.org/10.1109/TCSI.2022.3224746
Publication status	Published - 1 Feb 2023

Keywords

Active disturbance rejection control
delta parallel manipulators
trajectory tracking control
variable gain

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10.1109/TCSI.2022.3224746

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abstract = "In this paper, a novel generalized variable gain active disturbance rejection control (VGADRC) method is proposed for the n -th order nonlinear system. The generalized VGADRC, including generalized variable gain tracking differentiator (VGTD), generalized variable gain extended state observer (VGESO), and generalized variable gain controller (VGC), incorporates error-based variable gains to achieve desired control performance. Moreover, the stability analysis of VGADRC is performed, and the existence of feasible solutions are discussed and expressed explicitly. Finally, the generalized VGADRC method is applied to delta parallel manipulators, and the numerical simulation results and experiment results are presented to illustrate the effectiveness of the proposed method.",

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T1 - Generalized Variable Gain ADRC for Nonlinear Systems and Its Application to Delta Parallel Manipulators

AU - Gu, Shaomeng

AU - Zhang, Jinhui

AU - Li, Yiran

PY - 2023/2/1

Y1 - 2023/2/1

N2 - In this paper, a novel generalized variable gain active disturbance rejection control (VGADRC) method is proposed for the n -th order nonlinear system. The generalized VGADRC, including generalized variable gain tracking differentiator (VGTD), generalized variable gain extended state observer (VGESO), and generalized variable gain controller (VGC), incorporates error-based variable gains to achieve desired control performance. Moreover, the stability analysis of VGADRC is performed, and the existence of feasible solutions are discussed and expressed explicitly. Finally, the generalized VGADRC method is applied to delta parallel manipulators, and the numerical simulation results and experiment results are presented to illustrate the effectiveness of the proposed method.

AB - In this paper, a novel generalized variable gain active disturbance rejection control (VGADRC) method is proposed for the n -th order nonlinear system. The generalized VGADRC, including generalized variable gain tracking differentiator (VGTD), generalized variable gain extended state observer (VGESO), and generalized variable gain controller (VGC), incorporates error-based variable gains to achieve desired control performance. Moreover, the stability analysis of VGADRC is performed, and the existence of feasible solutions are discussed and expressed explicitly. Finally, the generalized VGADRC method is applied to delta parallel manipulators, and the numerical simulation results and experiment results are presented to illustrate the effectiveness of the proposed method.

KW - Active disturbance rejection control

KW - delta parallel manipulators

KW - trajectory tracking control

KW - variable gain

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JO - IEEE Transactions on Circuits and Systems I: Regular Papers

JF - IEEE Transactions on Circuits and Systems I: Regular Papers

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Generalized Variable Gain ADRC for Nonlinear Systems and Its Application to Delta Parallel Manipulators

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