A reduced-order extended state observer–based trajectory tracking control for one-degree-of-freedom pneumatic manipulator. (April 2018)

• Record Type: Journal Article
• Authors: Zhao, Ling; Liu, Xin; Wang, Tao; liu, Bo
• Is Part Of: Advances in mechanical engineering. Volume 10:Number 4(2018)
• Publication Date: 2018-04
• Subjects: Reduced-order extended state observer -- tracking control -- stability analysis -- one-degree-of-freedom manipulator -- pneumatic artificial muscle; Mechanical engineering -- Periodicals; 621.05
• DOI: 10.1177/1687814018767289
• Languages: English
• ISSNs: 1687-8132

Abstract

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.