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Active Disturbance Rejection Tracking Control for a Nonlinear Pneumatic Muscle System

Author:
Yang, Hongjiu  Yu, Yang  Qiu, Jing  Hua, Changchun  


Journal:
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS


Issue Date:
2017


Abstract(summary):

This paper presents active disturbance rejection tracking control for a nonlinear pneumatic muscle system. Unmodeled dynamics, varying parameters and external disturbances are merged into generalized disturbances in the pneumatic muscle system. An error-feedback controller is designed to guarantee tracking precision based on an extended state observer. Some experimental results are given to show the effectiveness of developed techniques in this paper.


Page:
2376---2384


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