Abstract
In this paper, a nonlinear control strategy is proposed for a pneumatic manipulator based on an adaptive extended state observer and a backstepping integral sliding mode controller. A single degree of freedom dynamic model is established for the pneumatic manipulator using an Euler–Lagrange dynamic equation. The adaptive extended state observer is designed by an adaptive law to estimate uncertainties and disturbances. The backstepping integral sliding mode controller is proposed using an integral sliding mode surface based on backstepping technique. Comparative experiments verify effectiveness of the proposed nonlinear control strategy for the pneumatic manipulator.
Original language | English |
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Pages (from-to) | 374-384 |
Number of pages | 11 |
Journal | ISA Transactions |
Volume | 144 |
DOIs | |
State | Published - Jan 2024 |
Bibliographical note
Publisher Copyright:© 2023
Keywords
- Adaptive extended state observer
- Backstepping technique
- Integral sliding mode control
- Pneumatic manipulator
ASJC Scopus subject areas
- Control and Systems Engineering
- Instrumentation
- Computer Science Applications
- Electrical and Electronic Engineering
- Applied Mathematics