| 气动人工肌肉关节的自抗扰控制 |
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| 引用本文： | 刘昊,王涛,范伟,赵彤,王军政. 气动人工肌肉关节的自抗扰控制[J]. 机器人, 2011, 33(4): 461-466,508. DOI: 10.3724/SP.J.1218.2011.00461 |
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| 作者姓名： | 刘昊 王涛 范伟 赵彤 王军政 |
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| 作者单位： | 1. 北京理工大学,北京,100081
2. SMC(中国)有限公司,北京,100176 |
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| 基金项目： | 国家自然科学基金资助项目(50475163) |
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| 摘 要： | 气动人工肌肉关节系统是一个强非线性时变自平衡2阶系统,鉴于传统控制方法难以克服控制精度、调节速度和稳定性之间的矛盾,设计了一种2阶自抗扰控制器.采用3阶扩张状态观测器实时估计未建模型部分及外界扰动,对系统进行线性补偿,并利用非线性反馈机制提高控制效率,在保证稳定性的前提下,提高调节速度和控制精度,使得系统的稳态精度小于...
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| 关 键 词： | 气动人工肌肉 动力学模型 非线性 自抗扰控制 |
Active Disturbance Rejection Control for the Joint Driven by PMAs |
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| LIU Hao,WANG Tao,FAN Wei,ZHAO Tong,WANG Junzheng. Active Disturbance Rejection Control for the Joint Driven by PMAs[J]. Robot, 2011, 33(4): 461-466,508. DOI: 10.3724/SP.J.1218.2011.00461 |
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| Authors: | LIU Hao WANG Tao FAN Wei ZHAO Tong WANG Junzheng |
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| Affiliation: | LIU Hao~1,WANG Tao~1,FAN Wei~1,ZHAO Tong~2,WANG Junzheng~1 (1.Beijing Institute of Technology,Beijing 100081,China,2.SMC(China) Company limited,Beijing 100176,China) |
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| Abstract: | The system of a joint driven by PMAs(pneumatic muscle actuators) is a strong nonlinear time-varying self-balanced second-order system.Traditional control methods are difficult to overcome the conflict between the control accuracy, the regulating speed and the stability.A second-order active disturbance rejection control(ADRC) is designed,in which a third-order ESO(extended states observer) is adopted to estimate the non-modeling part and external disturbance in real time and to make the linear compensation ... |
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| Keywords: | PMA(pneumatic muscle actuator) dynamic model nonlinear ADRC(active disturbance rejection control) |
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