One-DOF Link Manipulator Control Through Active Disturbance Rejection Approach
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- 英文论文题名：One-DOF Link Manipulator Control Through Active Disturbance Rejection Approach
- 论文作者：YANG Yang ; TAN Jie
- 英文论文作者：YANG Yang ; TAN Jie ; College of Automation ; Nanjing University of Posts and Telecommunications
- 年：2017
- 作者机构：College of Automation,Nanjing University of Posts and Telecommunications;
- 英文论文关键词：Active Disturbance Rejection Control ; One-DOF Link Manipulator ; Extended State Observer
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：TP241
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：5
- 文件大小：410k
- 原文格式：D
- 会议级别：全国
摘要
We are concerned with the control issue for the joint angular of a one-DOF link manipulator in this paper by the active disturbance rejection control(ADRC) method. A novel extended state observer(ESO) is proposed to improve the convergence of the observer by adding and modifying a nonlinear region in the fal function. Taking the moment of the joint as a control input,the ADRC strategy is proposed utilizing the estimation value of the extended state. In theory, the convergence of the closed-loop system of one-DOF link manipulator is analyzed by the Lyapunov function.
We are concerned with the control issue for the joint angular of a one-DOF link manipulator in this paper by the active disturbance rejection control(ADRC) method. A novel extended state observer(ESO) is proposed to improve the convergence of the observer by adding and modifying a nonlinear region in the fal function. Taking the moment of the joint as a control input,the ADRC strategy is proposed utilizing the estimation value of the extended state. In theory, the convergence of the closed-loop system of one-DOF link manipulator is analyzed by the Lyapunov function.
We are concerned with the control issue for the joint angular of a one-DOF link manipulator in this paper by the active disturbance rejection control(ADRC) method. A novel extended state observer(ESO) is proposed to improve the convergence of the observer by adding and modifying a nonlinear region in the fal function. Taking the moment of the joint as a control input,the ADRC strategy is proposed utilizing the estimation value of the extended state. In theory, the convergence of the closed-loop system of one-DOF link manipulator is analyzed by the Lyapunov function.
引文
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[6]Gao Z.On the foundation of active disturbance rejection control.Control Theory&Applications,2013,30(12):1498-1510.
[7]Guo B,Zhao Z.On the convergence of an extended state observer for nonlinear systems with uncertainty.Systems&Control Letters,2011,60(6):420-430.
[8]Erenturk K.Fractional-order PIλDμand active disturbance rejection control of nonlinear two-mass drive system.IEEE Transactions on Industrial Electronics,2013,60(9):3806-3813.
[9]Gao Z.Active disturbance rejection control:from an enduring idea to an emerging technology.Proceedings of the 10th International Workshop on Robot Motion and Control(Ro Mo Co),2015:269-282.
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[11]Feng G,Liu Y,Huang L.A new robust algorithm to improve the dynamic performance on the speed control of induction motor drive.IEEE Transactions on Power Electronics,2004,19(6):1614-1627.
[12]Li S,Liu Z.Adaptive speed control for permanent-magnet synchronous motor system with variations of load inertia.IEEE Transactions on Industrial Electronics,2009,56(8):3050-3059.
[13]Huang Y,Xu K,Han J,et al.Flight control design using extended state observer and non-smooth feedback.Proceedings of the 40th IEEE Conference on Decision and Control,2001:223-228.
[14]Xia Y,Zhu Z,Fu M,et al.Attitude tracking of rigid spacecraft with bounded disturbances.IEEE Transactions on Industrial Electronics,2011,58(2):647-659.
[15]Su J,Ma H,Qiu W,et al.Task-independent robotic uncalibrated hand-eye coordination based on the extended state observer.IEEE Transactions on Systems,Man,and Cybernetics,Part B:Cybernetics,2004,34(4):1917-1922.
[16]Talole S E,Kolhe J P,Phadke S B.Extended-state-observerbased control of flexible-joint system with experimental validation.IEEE Transactions on Industrial Electronics,2010,57(4):1411-1419.
[17]Zheng Q,Gao Z.On practical applications of active disturbance rejection control.Proceedings of the 29th Chinese Control Conference,2010:6095-6100.
[18]Han J.Active disturbance rejection control technology:uncertainty estimation compensation control technology.National Defence Industry Press,2008.
[19]Zhao Z,Guo B.Active disturbance rejection control approach to stabilization of lower triangular systems with uncertainty.International Journal of Robust and Nonlinear Control,2015,26(11):2314-2337.
[20]Shen T.Robot robust control foundation.Tsinghua University Press,2000.
[21]Ran M,Wang Q,Dong C.Active disturbance rejection control for uncertain nonaffine-in-control nonlinear systems.IEEE Transactions on Automatic Control,2016,DOI:10.1109/TAC.2016.2641980.
[2]Huang Y,Xue W.Active disturbance rejection control:methodology and theoretical analysis.ISA Transactions,2014,53(4):963-976.
[3]Zheng Q,Gao Z.Active disturbance rejection control:between the formulation in time and the understanding in frequency.Control Theory and Technology,2016,14(3):250-259.
[4]Han J.ADRC and application of ADRC.Control And Decision,1998(1):19-23.
[5]Han J.From PID to active disturbance rejection control.IEEE Transactions on Industrial Electronics,2009,56(3):900-906.
[6]Gao Z.On the foundation of active disturbance rejection control.Control Theory&Applications,2013,30(12):1498-1510.
[7]Guo B,Zhao Z.On the convergence of an extended state observer for nonlinear systems with uncertainty.Systems&Control Letters,2011,60(6):420-430.
[8]Erenturk K.Fractional-order PIλDμand active disturbance rejection control of nonlinear two-mass drive system.IEEE Transactions on Industrial Electronics,2013,60(9):3806-3813.
[9]Gao Z.Active disturbance rejection control:from an enduring idea to an emerging technology.Proceedings of the 10th International Workshop on Robot Motion and Control(Ro Mo Co),2015:269-282.
[10]Huang Y,Han J.Analysis and design for the second order nonlinear continuous extended states observer.Chinese Science Bulletin,2000,45(13):1373-1379.
[11]Feng G,Liu Y,Huang L.A new robust algorithm to improve the dynamic performance on the speed control of induction motor drive.IEEE Transactions on Power Electronics,2004,19(6):1614-1627.
[12]Li S,Liu Z.Adaptive speed control for permanent-magnet synchronous motor system with variations of load inertia.IEEE Transactions on Industrial Electronics,2009,56(8):3050-3059.
[13]Huang Y,Xu K,Han J,et al.Flight control design using extended state observer and non-smooth feedback.Proceedings of the 40th IEEE Conference on Decision and Control,2001:223-228.
[14]Xia Y,Zhu Z,Fu M,et al.Attitude tracking of rigid spacecraft with bounded disturbances.IEEE Transactions on Industrial Electronics,2011,58(2):647-659.
[15]Su J,Ma H,Qiu W,et al.Task-independent robotic uncalibrated hand-eye coordination based on the extended state observer.IEEE Transactions on Systems,Man,and Cybernetics,Part B:Cybernetics,2004,34(4):1917-1922.
[16]Talole S E,Kolhe J P,Phadke S B.Extended-state-observerbased control of flexible-joint system with experimental validation.IEEE Transactions on Industrial Electronics,2010,57(4):1411-1419.
[17]Zheng Q,Gao Z.On practical applications of active disturbance rejection control.Proceedings of the 29th Chinese Control Conference,2010:6095-6100.
[18]Han J.Active disturbance rejection control technology:uncertainty estimation compensation control technology.National Defence Industry Press,2008.
[19]Zhao Z,Guo B.Active disturbance rejection control approach to stabilization of lower triangular systems with uncertainty.International Journal of Robust and Nonlinear Control,2015,26(11):2314-2337.
[20]Shen T.Robot robust control foundation.Tsinghua University Press,2000.
[21]Ran M,Wang Q,Dong C.Active disturbance rejection control for uncertain nonaffine-in-control nonlinear systems.IEEE Transactions on Automatic Control,2016,DOI:10.1109/TAC.2016.2641980.