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

Chao Liu; Li Li; Yuanqing Xia; Ling Zhao

doi:10.1109/TCSI.2025.3540911

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 journal › Article › peer-review

1 Citation (Scopus)

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 language	English
Pages (from-to)	6058-6069
Number of pages	12
Journal	IEEE Transactions on Circuits and Systems I: Regular Papers
Volume	72
Issue number	10
DOIs	https://doi.org/10.1109/TCSI.2025.3540911
Publication status	Published - 2025
Externally published	Yes

Keywords

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

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10.1109/TCSI.2025.3540911

Cite this

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title = "Practically Finite-Time ADRC for a 3-DOF Parallel Mechanism of PMAs With Couplings",

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.",

keywords = "Parallel mechanism, active disturbance rejection control, coupling, pneumatic muscle actuator, practically finite-time control",

author = "Chao Liu and Li Li and Yuanqing Xia and Ling Zhao",

note = "Publisher Copyright: {\textcopyright} 2004-2012 IEEE.",

year = "2025",

doi = "10.1109/TCSI.2025.3540911",

language = "English",

volume = "72",

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journal = "IEEE Transactions on Circuits and Systems I: Regular Papers",

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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

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 - Parallel mechanism

KW - active disturbance rejection control

KW - coupling

KW - pneumatic muscle actuator

KW - practically finite-time control

UR - https://www.scopus.com/pages/publications/85218802769

U2 - 10.1109/TCSI.2025.3540911

DO - 10.1109/TCSI.2025.3540911

M3 - Article

AN - SCOPUS:85218802769

SN - 1549-8328

VL - 72

SP - 6058

EP - 6069

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

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

IS - 10

ER -

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

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Keywords

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