Practically Finite-Time ADRC for a 3-DOF Parallel Mechanism of PMAs With Couplings

Chao Liu, Li Li*, Yuanqing Xia, Ling Zhao

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

Abstract

In this paper, a practically finite-time active disturbance rejection control (PFTADRC) method is proposed for angle tracking on a 3-degree-of-freedom (3-DOF) parallel mechanism of pneumatic muscle actuators (PMAs) with couplings and disturbances. A coupling characterization is presented to determine whether the couplings are beneficial for the system. Based on this, a practically finite-time controller is designed, where detrimental and beneficial couplings are eliminated and remained, respectively. Moreover, when couplings change, the practically finite-time stability of the system is analyzed and guaranteed. Two Lyapunov criteria of practically finite-time stability are proposed to improve convergence rate of the system. Both the bounded region and the settling time are calculated. Finally, the numerical simulation results and experiment results are presented to illustrate the effectiveness of the proposed method.

Original languageEnglish
JournalIEEE Transactions on Circuits and Systems I: Regular Papers
DOIs
Publication statusAccepted/In press - 2025

Keywords

  • active disturbance rejection control
  • coupling
  • Parallel mechanism
  • pneumatic muscle actuator
  • practically finite-time control

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