Hybrid-disturbance-observer-based nonlinear control for characteristic model with applications to bionic pneumatic actuator system

Yuan Yuan, Lei Cheng, Zidong Wang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper, a hybrid-disturbance-observer-based controller is investigated for a class of nonlinear system with characteristic model. Firstly, a bionic pneumatic position actuator system is modeled by the characteristic model, which reduces the order of studied system. Subsequently, a hybrid-disturbance-observer (HDO) is designed for the sake of employing disturbances provided by characteristic model. We aim at designing a composite controller for all estimated disturbances, such that the overall system is stable. Finally, two groups of comparative experimental results are exploited on bionic pneumatic platform to show the usefulness of proposed methodology.

Original languageEnglish
Title of host publication2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages432-437
Number of pages6
ISBN (Electronic)9781728100647
DOIs
StatePublished - Jul 2019
Externally publishedYes
Event4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019 - Osaka, Japan
Duration: 3 Jul 20195 Jul 2019

Publication series

Name2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019

Conference

Conference4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Country/TerritoryJapan
CityOsaka
Period3/07/195/07/19

Keywords

  • Bionic pneumatic actuator system
  • Characteristic model
  • Hybrid disturbance observer
  • Nonlinear control

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