Journal ArticleDOI
Extended-State-Observer-Based Control of Flexible-Joint System With Experimental Validation
TLDR
A feedback linearization (FL)-based control law made implementable using an extended state observer (ESO) is proposed for the trajectory tracking control of a flexible-joint robotic system and the closed-loop stability of the system under the proposed observer-controller structure is established.Abstract:
In this paper, a feedback linearization (FL)-based control law made implementable using an extended state observer (ESO) is proposed for the trajectory tracking control of a flexible-joint robotic system. The FL-based controller cannot be implemented unless the full transformed state vector is available. The design also requires exact knowledge of the system model making the controller performance sensitive to uncertainties. To address these issues, an ESO is designed, which estimates the state vector, as well as the uncertainties in an integrated manner. The FL controller uses the states estimated by ESO, and the effect of uncertainties is compensated by augmenting the FL controller with the ESO-estimated uncertainties. The closed-loop stability of the system under the proposed observer-controller structure is established. The effectiveness of the ESO in the estimation of the states and uncertainties and the effectiveness of the FL + ESO controller in tracking are demonstrated through simulations. Lastly, the efficacy of the proposed approach is validated through experimentation on Quanser's flexible-joint module.read more
Citations
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Journal ArticleDOI
Generalized Extended State Observer Based Control for Systems With Mismatched Uncertainties
TL;DR: By appropriately choosing a disturbance compensation gain, a generalized ESOBC (GESOBC) method is proposed for nonintegral-chain systems subject to mismatched uncertainties without any coordinate transformations, able to extend to multi-input-multi-output systems with almost no modification.
Journal ArticleDOI
Active disturbance rejection control: Methodology and theoretical analysis
Yi Huang,Wenchao Xue +1 more
TL;DR: Several breakthroughs for control of nonlinear uncertain systems, made possible by ADRC, are discussed and the latest results in theoretical analysis of the ADRC-based control systems are introduced.
Journal ArticleDOI
Extended-State-Observer-Based Output Feedback Nonlinear Robust Control of Hydraulic Systems With Backstepping
TL;DR: The proposed controller theoretically guarantees a prescribed tracking transient performance and final tracking accuracy, while achieving asymptotic tracking performance in the absence of time-varying uncertainties, which is very important for high-accuracy tracking control of hydraulic servo systems.
Journal ArticleDOI
Active Disturbance Rejection Adaptive Control of Hydraulic Servo Systems
Jianyong Yao,Wenxiang Deng +1 more
TL;DR: The proposed controller theoretically achieves an asymptotic tracking performance in the presence of parametric uncertainties and constant disturbances and prescribed transient tracking performance and final tracking accuracy can also be guaranteed when existing time-variant uncertain nonlinearities.
Journal ArticleDOI
ADRC With Adaptive Extended State Observer and its Application to Air–Fuel Ratio Control in Gasoline Engines
TL;DR: The experimental results demonstrate that the proposed controller can ensure high deviation precision of AFR despite both uncertain dynamics and measurement noise, and validates the effectiveness of the AESO's gain by which the performance of ADRC on mitigating uncertainties can be improved.
References
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From PID to Active Disturbance Rejection Control
TL;DR: Active disturbance rejection control is proposed, which is motivated by the ever increasing demands from industry that requires the control technology to move beyond PID, and may very well break the hold of classical PID and enter a new era of innovations.
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Robot dynamics and control
TL;DR: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control, providing background material on terminology and linear transformations and examples illustrating all aspects of the theory and problems.
Proceedings ArticleDOI
Scaling and bandwidth-parameterization based controller tuning
TL;DR: A new set of tools, including controller scaling, controller parameterization and practical optimization, is presented to standardize controller tuning, which moves controller tuning in the direction of science.
Journal ArticleDOI
A Time Delay Controller for Systems With Unknown Dynamics
Kamal Youcef-Toumi,Osamu Ito +1 more
TL;DR: In this paper, a new control method, Time Delay Control (TDC), is proposed for linear time-invariant and single-input-single-output (SISO) systems under the assumption of accessibility to all the state variables and estimates of their delayed derivatives.