Extended state observer based technique for control of robot systems

Huang, Yi; Luo, Zhiwen; Odashima, Tadashi; Hosoe, Shigeyuki

doi:10.1109/wcica.2002.1020036

Cited by 28 publications

(8 citation statements)

References 8 publications

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“…Considering system (24) and Remark 2, we can get the same conclusion that if all of the poles of matrices Ac and Ae lie in the left half s plane, the close-system will be bounded-input-boundedoutput stable with any bounded d(t), which means that we should choose p > 0 and reasonable K x by pole placement technique.…”

Section: Composite Controller Designmentioning

confidence: 80%

See 1 more Smart Citation

Extended state observer based control for DC-DC buck converters subject to mismatched disturbances

Wu¹,

Yang²,

Wang³

et al. 2014

Proceedings of the 33rd Chinese Control Conference

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This paper aims to investigate an extended state observer based control (ESOBC) approach for DC-DC buck converters subject to the unknown load resistance disturbance, which is mismatched according to the average model of buck converter. Different from the existed methods, a disturbance compensation control method is proposed in this paper. Extended state observer (ESO) is employed to estimate the load disturbance and a composite controller which contains a disturbance compensation item is employed to eliminate effects of the disturbance based on its estimates. The simulation studies for the proposed method demonstrate the effectiveness of tracking performance in the presence of mismatched disturbances.

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Section: Composite Controller Designmentioning

confidence: 80%

“…In recent decades, extended state observer (ESO) has been widely researched and applied in many areas, including motion control systems [22]- [23], robot control systems [24], etc. Some papers have worked on the disturbance compensation control problem of the mismatched uncertainties based on the ESO, such as [25].…”

Section: Introductionmentioning

confidence: 99%

Extended state observer based control for DC-DC buck converters subject to mismatched disturbances

Wu¹,

Yang²,

Wang³

et al. 2014

Proceedings of the 33rd Chinese Control Conference

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show abstract

“…This allows the controller to actively compensate for the uncertainties, and it led to the active disturbance rejection control (ADRC) (Gao et al 2001a, b, Wang et al 2003. The strong robustness of the non-linear ESO (NLESO) has attracted the attention of authors in recent year (Huang et al 2001(Huang et al , 2002a. The outstanding performance of NLESO among the other observers was verified by the experiments.…”

Section: Introductionmentioning

confidence: 95%

Optimal fast tracking observer bandwidth of the linear extended state observer

Yoo

Yau

Gao

2007

International Journal of Control

158

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In current industrial control applications, the proportional þ integral þ derivative (PID) control is still used as the leading tool, but constructing controller requires precise mathematical model of plant, and tuning the parameters of controllers is not simple to implement. Motivated by the gap between theory and practice in control problems, linear active disturbance rejection control (LADRC) addresses a set of control problems in the absence of precise mathematical models. LADRC has two parameters to be tuned, namely, a closed-loop bandwidth and observer bandwidth. The performance of LADRC depends on the quick convergence of a unique state observer, known as the extended state observer, proposed by Jinqing Han (1994). Only one parameter, observer bandwidth, significantly affects the tracking speed of extended state observer. This paper studies numerically the optimal fast tracking observer bandwidth and the absolute tracking error estimation for a class of non-linear and uncertain motion control problems by finite difference method.

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“…As a non-model-based disturbance rejection method, only the order and partial estimation of system parameters are required to estimate the external disturbance. The ease of use of ADRC has seen various applications including robotic systems [20,21], vehicle suspension system [22,23] and power electronics [24,25].…”

Section: Introductionmentioning

confidence: 99%

Tracking Control of Single-Axis Feed Drives Based on ADRC and Feedback Linearisation

Yuan

2021

Electronics

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The accuracy of manufacturing highly characterises the performance of industrial motion control. However, detrimental effects such as nonlinear coupling, model uncertainty and unknown external disturbances severely affect trajectory tracking performance. In this paper, we proposed an ADRC and feedback linearisation-based control algorithm for the high-precision trajectory tracking of feed drives. The controller was rigorously designed to ensure the convergence of observer states and tracking error. The applicability of the proposed approach was successfully demonstrated via high-fidelity simulation, and the numerical results based on different tracking methods were compared.

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Extended state observer based technique for control of robot systems

Cited by 28 publications

References 8 publications

Extended state observer based control for DC-DC buck converters subject to mismatched disturbances

Extended state observer based control for DC-DC buck converters subject to mismatched disturbances

Optimal fast tracking observer bandwidth of the linear extended state observer

Tracking Control of Single-Axis Feed Drives Based on ADRC and Feedback Linearisation

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