Active disturbance rejection control for a pneumatic motion platform subject to actuator saturation: An extended state observer approach. (September 2019)

• Record Type: Journal Article
• Authors: Yuan, Yuan; Wang, Zidong; Yu, Yang; Guo, Lei; Yang, Hongjiu
• Is Part Of: Automatica. Volume 107(2019)
• Page Start: 353
• Page End: 361
• Publication Date: 2019-09
• Subjects: Active disturbance rejection control -- Pneumatic motion platform -- Actuator saturation -- Strictly invariant set; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2019.05.056
• Languages: English
• ISSNs: 0005-1098

Abstract

Abstract: External disturbances and actuator saturations are two frequently encountered phenomena in pneumatic servo systems. In this paper, a major investigation is carried out on the design of an active disturbance rejection control scheme that is applied to a three-freedom pneumatic motion system subject to actuator saturations. An extended-state-observer (ESO) is proposed to estimate the so-called total disturbance and then an ESO-based composite controller is developed so as to control the pneumatic motion system. With consideration of the actuator saturation effect, a strictly invariant set is estimated for the system under investigation by solving a convex optimization problem via the semi-definite programme method. A number of practical experiments are conducted on a pneumatic motion platform in order to verify the applicability of the proposed method.