A reduced-order extended state observer-based trajectory tracking control for one-degree-of-freedom pneumatic manipulator

作者：Zhao, Ling^*; Liu, Xin; Wang, Tao; Liu, Bo

来源：Advances in Mechanical Engineering, 2018, 10(4): 1687814018767289.

DOI：10.1177/1687814018767289

• Reduced-order extended state observer
• tracking control
• stability analysis
• one-degree-of-freedom manipulator
• pneumatic artificial muscle

In this article, a reduced-order extended state observer is proposed to deal with uncertainties and disturbances in tracking control for a one-degree-of-freedom manipulator pneumatic system. A tracking differentiator is designed to generate a smooth tracking signal and a corresponding differential signal of the reference input. A non-linear state error feedback is adopted to ensure the response rapidity and control precision. Furthermore, stability analysis of the proposed reduced-order extended state observer and the closed-loop system is also presented. Finally, the experimental results show the efficiency of the proposed scheme for the one-degree-of-freedom manipulator pneumatic system.

• 出版日期2018-4-18
• 单位北京理工大学; 燕山大学; 中国石油大学（北京）