TY - GEN
T1 - A dynamic decoupling control structure for permanent magnet spherical actuators based on active disturbance rejection control
AU - Liu, Jingmeng
AU - Deng, Huiyang
AU - Chen, Weihai
AU - Zhang, Jianbin
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/10/19
Y1 - 2016/10/19
N2 - This paper presents a decoupling control strategy to solve the path following problem for the Permanent Magnet Spherical Actuator (PMSA). The dynamic model can be obtained by the Lagrange-Euler formalism, which is obviously a multivariable nonlinear system with interactions or cross-couplings. The proposed control structure is based on Active Disturbance Rejection Control (ADRC), one of the main disturbance rejection methods for decoupling control. The dynamic linearization and decoupling is accomplished via a kind of unknown input observer, called Extended State Observer (ESO). It is convinced that ESO can not only estimate the external disturbance, but also plant dynamics. Herein, the linear Active Disturbance Rejection Control (LADRC) is selected for the PMSAs, as the tuning process can be greatly simplified by making all parameters of ESO or the controller a funciton of bandwidth. Simulation results are presented to corroborate the effectiveness of the proposed strategy.
AB - This paper presents a decoupling control strategy to solve the path following problem for the Permanent Magnet Spherical Actuator (PMSA). The dynamic model can be obtained by the Lagrange-Euler formalism, which is obviously a multivariable nonlinear system with interactions or cross-couplings. The proposed control structure is based on Active Disturbance Rejection Control (ADRC), one of the main disturbance rejection methods for decoupling control. The dynamic linearization and decoupling is accomplished via a kind of unknown input observer, called Extended State Observer (ESO). It is convinced that ESO can not only estimate the external disturbance, but also plant dynamics. Herein, the linear Active Disturbance Rejection Control (LADRC) is selected for the PMSAs, as the tuning process can be greatly simplified by making all parameters of ESO or the controller a funciton of bandwidth. Simulation results are presented to corroborate the effectiveness of the proposed strategy.
UR - https://www.scopus.com/pages/publications/84997354300
U2 - 10.1109/ICIEA.2016.7603859
DO - 10.1109/ICIEA.2016.7603859
M3 - 会议稿件
AN - SCOPUS:84997354300
T3 - Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016
SP - 1697
EP - 1702
BT - Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 11th IEEE Conference on Industrial Electronics and Applications, ICIEA 2016
Y2 - 5 June 2016 through 7 June 2016
ER -