Active Disturbance Rejection Tracking Control for a Nonlinear Pneumatic Muscle System
- Resource Type
- Article
- Authors
- Hongjiu Yang; Yang Yu; Jing Qiu; Chang-chun Hua
- Source
- (2022): 2376-2384.
- Subject
- Language
- Korean
- ISSN
- 15986446
This paper presents active disturbance rejection tracking control for a nonlinear pneumatic muscle system. Unmodeled dynamics, varying parameters and external disturbances are merged into generalized disturbancesin the pneumatic muscle system. An error-feedback controller is designed to guarantee tracking precision based onan extended state observer. Some experimental results are given to show the effectiveness of developed techniquesin this paper.
This paper presents active disturbance rejection tracking control for a nonlinear pneumatic muscle system. Unmodeled dynamics, varying parameters and external disturbances are merged into generalized disturbancesin the pneumatic muscle system. An error-feedback controller is designed to guarantee tracking precision based onan extended state observer. Some experimental results are given to show the effectiveness of developed techniquesin this paper.