{"title":"Practical Prescribed-Time Fully Actuated Tracking Control for 2-DOF Pneumatic Parallel Mechanism With Input Saturation.","authors":"Yipeng Cao, Li Li, Changchun Hua, Jiaping Qiang","doi":"10.1109/TCYB.2026.3732042","DOIUrl":null,"url":null,"abstract":"<p><p>In this article, the attitude tracking control is investigated for a two-degree-of-freedom (2-DOF) pneumatic parallel mechanism subject to input saturation and unknown disturbances. First, joint estimation of unknown dynamics and disturbances is achieved by integrating a radial basis function (RBF) neural network into the design of a prescribed-time refined extended state observer (PTRESO). Next, a second-order auxiliary system is constructed to mitigate the effects of input saturation. A practical prescribed-time fully actuated control (PPTFAC) method is developed to simplify controller design and ensure that the tracking error reaches a preset accuracy within a prescribed settling time. Finally, the effectiveness and robustness of the proposed method are validated through simulations and experiments.</p>","PeriodicalId":13112,"journal":{"name":"IEEE Transactions on Cybernetics","volume":"PP ","pages":""},"PeriodicalIF":11.3000,"publicationDate":"2026-09-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Cybernetics","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1109/TCYB.2026.3732042","RegionNum":1,"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 article, the attitude tracking control is investigated for a two-degree-of-freedom (2-DOF) pneumatic parallel mechanism subject to input saturation and unknown disturbances. First, joint estimation of unknown dynamics and disturbances is achieved by integrating a radial basis function (RBF) neural network into the design of a prescribed-time refined extended state observer (PTRESO). Next, a second-order auxiliary system is constructed to mitigate the effects of input saturation. A practical prescribed-time fully actuated control (PPTFAC) method is developed to simplify controller design and ensure that the tracking error reaches a preset accuracy within a prescribed settling time. Finally, the effectiveness and robustness of the proposed method are validated through simulations and experiments.
期刊介绍：
The scope of the IEEE Transactions on Cybernetics includes computational approaches to the field of cybernetics. Specifically, the transactions welcomes papers on communication and control across machines or machine, human, and organizations. The scope includes such areas as computational intelligence, computer vision, neural networks, genetic algorithms, machine learning, fuzzy systems, cognitive systems, decision making, and robotics, to the extent that they contribute to the theme of cybernetics or demonstrate an application of cybernetics principles.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
