Fixed-Time Dynamic Surface Disturbance Rejection Control for Pneumatic Soft Bending Actuators

Xin Liu, Jinhui Zhang*, Shaomeng Gu, Ling Zhao

*此作品的通讯作者

科研成果: 期刊稿件文章同行评审

摘要

In this paper, a fixed-time dynamic surface disturbance rejection control (FTDSDRC) method is proposed to achieve desired angle tracking control performances of the pneumatic soft bending actuator. To achieve active disturbance rejection, a fixed-time disturbance observer (FTDOB) is designed to estimate the unknown disturbance in the pneumatic soft bending actuator. Then, a fixed-time dynamic surface disturbance rejection controller is proposed to achieve desired angle tracking control performances by compensating for the unknown disturbance. Finally, angle tracking control experimental results demonstrate that the proposed FTDSDRC method effective in achieving desired angle tracking control performances.

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