TY - JOUR
T1 - Practically Finite-Time ADRC for a 3-DOF Parallel Mechanism of PMAs With Couplings
AU - Liu, Chao
AU - Li, Li
AU - Xia, Yuanqing
AU - Zhao, Ling
N1 - Publisher Copyright:
© 2004-2012 IEEE.
PY - 2025
Y1 - 2025
N2 - 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.
AB - 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.
KW - active disturbance rejection control
KW - coupling
KW - Parallel mechanism
KW - pneumatic muscle actuator
KW - practically finite-time control
UR - http://www.scopus.com/inward/record.url?scp=85218802769&partnerID=8YFLogxK
U2 - 10.1109/TCSI.2025.3540911
DO - 10.1109/TCSI.2025.3540911
M3 - Article
AN - SCOPUS:85218802769
SN - 1549-8328
JO - IEEE Transactions on Circuits and Systems I: Regular Papers
JF - IEEE Transactions on Circuits and Systems I: Regular Papers
ER -