The Study Of Position And Tracking Control For A One-DOF Manipulator Based On Adrc Approach

As a burgeoning drive and control technology,the pneumatic technology has a broad development prospects in industrial automation production,medical service,accident rescue,even to military armament and space exploration.Moreover,pneumatic manipulator system as the combination of pneumatic technique,machine design,electronic technique and modern control technique,It has been widely concerned by scientific researchers based on its simple structure,safety,convenient maintenance and high cleanliness.However,pneumatic manipulator systems are difficult to obtain high precision performance because of it insuperable phenomenon: strong uncertainty,nonlinearity and external disturbances.Thereby,in this paper,the one-DOF manipulator,which is the basic and important unit of manipulator systems,is the main research object,and active disturbance rejection control is adopted to make sure high precision and response speed for one-DOF manipulator's positioning and tracking control.At the beginning,designing and machining pneumatic artificial muscles that used in experiments,building and improving the experimental platform of the one-DOF manipulator.Then,pneumatic artificial muscles' mathematical model would be derived based on related references.In addition,we get the dynamic model of the one-DOF manipulator system owning to pneumatic artificial muscles' mathematical model.But the dynamic model has inaccuracy,high nonlinearity,time-varying phenomenon and strong uncertainties.In the next place,to deal with the model uncertainties and external disturbances in pneumatic one-DOF manipulator system,active disturbance rejection control is adopted to improve the positioning control of one-DOF manipulator system.Tracking differentiator is introduced to make transient process smoothly and avoid overshoot phenomenon.Extended state observer is adopted to observe and estimate the internal model uncertainties and the total disturbances in one-DOF manipulator system.And,a feedback controller based on the estimation of the total disturbances is gotten to effectively compensate the total disturbances' influences.In addition,the stabilities of extended state observer and close-loop system are given by self-stable theory and Lyapunov stability method.At the end of the chapter,contrast simulations and experiments verify that the proposed method can greatly improve the positioning control performances of the one-DOF manipulator system.In the following,owing to the output of the system can be obtained by an angle encoder,it is unnecessary to observe the output state.So,the extended state observer is reconstructed and placed by a reduced-order extended state observer,which can availably depress the difficulty of adjusting parameters and convergence analysis of a third-order extended state observer.In addition,a nonlinear feedback controller combining with compensation of disturbances is designed to guarantee a satisfying performance of the closed-loop pneumatic manipulator system.Moreover,the effectiveness and advantages of the proposed approach based on the reduced-order extended state observer is guaranteed by contrast experiments with the traditional active disturbance rejection control method.At last,designing a switching sliding variable based on system states,and transforming the original model to a new model based on the sliding variable and its differential.Then,a novel extended state observer is gotten by the super-twisting algorithm.A switching feedback controller based on the combination of the switching sliding structure,the estimation of total disturbances and system states is designed to guarantee the closed-loop system's stability and tracking performances.In addition,the finite time convergence and stability analysis is given in the paper.At the end of the chapter,a series of contrast experiments prove validity and advantages of the proposed method.