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

Yuan Yuan; Lei Cheng; Zidong Wang

doi:10.1109/ICARM.2019.8834102

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 proceeding › Conference contribution › peer-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 language	English
Title of host publication	2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	432-437
Number of pages	6
ISBN (Electronic)	9781728100647
DOIs	https://doi.org/10.1109/ICARM.2019.8834102
State	Published - Jul 2019
Externally published	Yes
Event	4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019 - Osaka, Japan Duration: 3 Jul 2019 → 5 Jul 2019

Publication series

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

Conference

Conference	4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Country/Territory	Japan
City	Osaka
Period	3/07/19 → 5/07/19

Keywords

Bionic pneumatic actuator system
Characteristic model
Hybrid disturbance observer
Nonlinear control

Access to Document

10.1109/ICARM.2019.8834102

Cite this

Yuan, Y., Cheng, L., & Wang, Z. (2019). Hybrid-disturbance-observer-based nonlinear control for characteristic model with applications to bionic pneumatic actuator system. In 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019 (pp. 432-437). Article 8834102 (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM.2019.8834102

Yuan, Yuan ; Cheng, Lei ; Wang, Zidong. / Hybrid-disturbance-observer-based nonlinear control for characteristic model with applications to bionic pneumatic actuator system. 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 432-437 (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019).

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

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.",

keywords = "Bionic pneumatic actuator system, Characteristic model, Hybrid disturbance observer, Nonlinear control",

author = "Yuan Yuan and Lei Cheng and Zidong Wang",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019 ; Conference date: 03-07-2019 Through 05-07-2019",

year = "2019",

month = jul,

doi = "10.1109/ICARM.2019.8834102",

language = "英语",

series = "2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Yuan, Y, Cheng, L & Wang, Z 2019, Hybrid-disturbance-observer-based nonlinear control for characteristic model with applications to bionic pneumatic actuator system. in 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019., 8834102, 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019, Institute of Electrical and Electronics Engineers Inc., pp. 432-437, 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019, Osaka, Japan, 3/07/19. https://doi.org/10.1109/ICARM.2019.8834102

Hybrid-disturbance-observer-based nonlinear control for characteristic model with applications to bionic pneumatic actuator system. / Yuan, Yuan; Cheng, Lei; Wang, Zidong.
2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 432-437 8834102 (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Wang, Zidong

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N2 - 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.

AB - 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.

KW - Bionic pneumatic actuator system

KW - Characteristic model

KW - Hybrid disturbance observer

KW - Nonlinear control

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Yuan Y, Cheng L, Wang Z. Hybrid-disturbance-observer-based nonlinear control for characteristic model with applications to bionic pneumatic actuator system. In 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 432-437. 8834102. (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019). doi: 10.1109/ICARM.2019.8834102

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

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