Disturbance rejection control of pneumatic manipulators based on model information compensation

IF 2.6 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control Pub Date : 2025-08-05 DOI:10.1016/j.ejcon.2025.101343

Zhaozhuo Wang, Gang Yang, Yue Pan, Chang Yuan, Yue Xu, Ruidi Xu

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引用次数: 0

Abstract

In order to achieve high-performance control of pneumatic manipulator systems, this paper proposes a disturbance rejection control scheme based on model information compensation. Initially, system model parameters are identified through experiments that target gravitational and friction forces. Two extended state observers incorporating model information are subsequently designed independently for the mechanical load dynamics and the pneumatic subsystem, thereby enhancing the efficiency of disturbance estimation. Leveraging backstepping control principles, the observed disturbances are fed forward into the controller for compensation, and a Robust Integral of the Sign (RISE) control term is introduced to further mitigate disturbance compensation errors and improve control performance. The stability of the proposed controller is analyzed using Lyapunov theory. Finally, experimental results demonstrate the feasibility and effectiveness of the proposed control approach.

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基于模型信息补偿的气动机械手抗扰控制

为了实现气动机械手系统的高性能控制，提出了一种基于模型信息补偿的抗扰控制方案。首先，通过针对重力和摩擦力的实验确定系统模型参数。随后分别为机械负载动力学子系统和气动子系统分别设计了包含模型信息的扩展状态观测器，从而提高了扰动估计的效率。利用反步控制原理，将观测到的扰动前馈到控制器中进行补偿，并引入符号鲁棒积分（RISE）控制项，进一步减小扰动补偿误差，提高控制性能。利用李雅普诺夫理论分析了所提控制器的稳定性。最后，通过实验验证了所提控制方法的可行性和有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

European Journal of Control 工程技术-自动化与控制系统

CiteScore

5.80

自引率

5.90%

发文量

131

审稿时长

1 months

期刊介绍： The European Control Association (EUCA) has among its objectives to promote the development of the discipline. Apart from the European Control Conferences, the European Journal of Control is the Association''s main channel for the dissemination of important contributions in the field. The aim of the Journal is to publish high quality papers on the theory and practice of control and systems engineering. The scope of the Journal will be wide and cover all aspects of the discipline including methodologies, techniques and applications. Research in control and systems engineering is necessary to develop new concepts and tools which enhance our understanding and improve our ability to design and implement high performance control systems. Submitted papers should stress the practical motivations and relevance of their results. The design and implementation of a successful control system requires the use of a range of techniques: Modelling Robustness Analysis Identification Optimization Control Law Design Numerical analysis Fault Detection, and so on.