TY - GEN
T1 - Hybrid-disturbance-observer-based nonlinear control for characteristic model with applications to bionic pneumatic actuator system
AU - Yuan, Yuan
AU - Cheng, Lei
AU - Wang, Zidong
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
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
UR - http://www.scopus.com/inward/record.url?scp=85073193912&partnerID=8YFLogxK
U2 - 10.1109/ICARM.2019.8834102
DO - 10.1109/ICARM.2019.8834102
M3 - 会议稿件
AN - SCOPUS:85073193912
T3 - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
SP - 432
EP - 437
BT - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Y2 - 3 July 2019 through 5 July 2019
ER -