{"title":"Angle attitude control for a networked pneumatic muscle actuators system with input quantization: A prescribed-time nonlinear ESO approach","authors":"","doi":"10.1016/j.isatra.2024.06.027","DOIUrl":null,"url":null,"abstract":"<div><p><span>In this paper, angle attitude control is investigated for a networked pneumatic muscle actuators system<span><span><span> (NPMAS) with input quantization and disturbance. A hysteretic quantizer is presented to effectively avoid the problem of high frequency oscillation in the process of quantization. A novel prescribed-time nonlinear extended state observer (PTNESO) is designed to continuously observe states and lumped disturbances of NPMAS, which ensures that the observation error converges in prescribed time. An </span>active disturbance rejection control (ADRC) method based on PTNESO is designed to compensate for the lumped disturbances and achieve accurate angle tracking. A </span>sufficient condition of bounded stability for NPMAS is given by the </span></span>Lyapunov method<span>. Finally, comparative experiments are provided to verify the effectiveness of the proposed control method.</span></p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3000,"publicationDate":"2024-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"ISA transactions","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0019057824003148","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
In this paper, angle attitude control is investigated for a networked pneumatic muscle actuators system (NPMAS) with input quantization and disturbance. A hysteretic quantizer is presented to effectively avoid the problem of high frequency oscillation in the process of quantization. A novel prescribed-time nonlinear extended state observer (PTNESO) is designed to continuously observe states and lumped disturbances of NPMAS, which ensures that the observation error converges in prescribed time. An active disturbance rejection control (ADRC) method based on PTNESO is designed to compensate for the lumped disturbances and achieve accurate angle tracking. A sufficient condition of bounded stability for NPMAS is given by the Lyapunov method. Finally, comparative experiments are provided to verify the effectiveness of the proposed control method.
期刊介绍:
ISA Transactions serves as a platform for showcasing advancements in measurement and automation, catering to both industrial practitioners and applied researchers. It covers a wide array of topics within measurement, including sensors, signal processing, data analysis, and fault detection, supported by techniques such as artificial intelligence and communication systems. Automation topics encompass control strategies, modelling, system reliability, and maintenance, alongside optimization and human-machine interaction. The journal targets research and development professionals in control systems, process instrumentation, and automation from academia and industry.