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

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.