期刊
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
卷 122, 期 -, 页码 307-320出版社
ACADEMIC PRESS LTD- ELSEVIER SCIENCE LTD
DOI: 10.1016/j.ymssp.2018.12.016
关键词
Nonlinear extended state observer; State error feedback controller; Double-joint manipulator system; Pneumatic artificial muscle; Trajectory tracking control
资金
- National Natural Science Foundation of China [6183000133, 61873030, 51505413]
- Beijing Natural Science Foundation [4161001]
- Hebei Province Natural Science Foundation of China [E2016203462]
In this paper, a trajectory tracking control strategy is proposed for a double-joint manipulator system driven by pneumatic artificial muscles. A nonlinear extended state observer is designed to estimate both disturbances and states of the double-joint manipulator system. Furthermore, a state error feedback controller is introduced to obtain good trajectory tracking control performances of the double-joint manipulator system. In addition, both effectiveness of the nonlinear extended state observer and stabilizability of the double-joint manipulator system are demonstrated. Finally, trajectory tracking experiment results show that the proposed strategy in this paper is effective to achieve control requirements with low frequency, high frequency, loads and disturbances. (C) 2018 Elsevier Ltd. All rights reserved.
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