Decoupling control for a multi-DOF pneumatic manipulator subject to imbalanced torques
In this paper, a decoupling control strategy is presented for a multi-degree of freedom (DOF) pneumatic manipulator with imbalanced torques. Considering the gravity of the multi-DOF pneumatic manipulator, there exist imbalanced torques for the multi-DOF pneumatic manipulator in the functioning proce...
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| Published in | Nonlinear dynamics Vol. 112; no. 5; pp. 3541 - 3556 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Dordrecht
Springer Netherlands
01.03.2024
Springer Nature B.V |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0924-090X 1573-269X |
| DOI | 10.1007/s11071-023-09244-6 |
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| Abstract | In this paper, a decoupling control strategy is presented for a multi-degree of freedom (DOF) pneumatic manipulator with imbalanced torques. Considering the gravity of the multi-DOF pneumatic manipulator, there exist imbalanced torques for the multi-DOF pneumatic manipulator in the functioning process. A decoupling nonlinear extended state observer (ESO) is used to estimate imbalanced torques and decoupling errors. A nonlinear decoupling error feedback controller is designed to decouple input and state couplings caused by mechanical structure for the multi-DOF pneumatic manipulator. Both effectiveness of the decoupling nonlinear ESO and close-loop stability of the multi-DOF pneumatic manipulator are verified by Lyapunov approaches. The comparative experiment results are given to show the effectiveness of the proposed control strategy for the multi-DOF pneumatic manipulator. |
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| AbstractList | In this paper, a decoupling control strategy is presented for a multi-degree of freedom (DOF) pneumatic manipulator with imbalanced torques. Considering the gravity of the multi-DOF pneumatic manipulator, there exist imbalanced torques for the multi-DOF pneumatic manipulator in the functioning process. A decoupling nonlinear extended state observer (ESO) is used to estimate imbalanced torques and decoupling errors. A nonlinear decoupling error feedback controller is designed to decouple input and state couplings caused by mechanical structure for the multi-DOF pneumatic manipulator. Both effectiveness of the decoupling nonlinear ESO and close-loop stability of the multi-DOF pneumatic manipulator are verified by Lyapunov approaches. The comparative experiment results are given to show the effectiveness of the proposed control strategy for the multi-DOF pneumatic manipulator. |
| Author | Li, Zhuojun Chen, Huaidong Zhao, Ling |
| Author_xml | – sequence: 1 givenname: Ling surname: Zhao fullname: Zhao, Ling email: ling.zhao@tju.edu.cn organization: State Key Laboratory of Precision Measurement Technology and Instruments, Tianjin University, State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University – sequence: 2 givenname: Huaidong surname: Chen fullname: Chen, Huaidong organization: State Key Laboratory of Precision Measurement Technology and Instruments, Tianjin University – sequence: 3 givenname: Zhuojun surname: Li fullname: Li, Zhuojun organization: State Key Laboratory of Precision Measurement Technology and Instruments, Tianjin University |
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| Keywords | Decoupling control Multi-DOF pneumatic manipulator Nonlinear extended state observer Imbalanced torques Kinematic analysis |
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| SubjectTerms | Automotive Engineering Classical Mechanics Compressed air Control Control systems design Controllers Couplings Decoupling Degrees of freedom Dynamical Systems Effectiveness Engineering Error feedback Feedback control Kinematics Manipulators Mechanical Engineering Motion control Original Paper Robot arms State observers Torque Vibration |
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| Title | Decoupling control for a multi-DOF pneumatic manipulator subject to imbalanced torques |
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