Decoupling control for a multi-DOF pneumatic manipulator subject to imbalanced torques

被引：0
|
作者：
Ling Zhao
Huaidong Chen
Zhuojun Li
机构：
[1] Tianjin University,State Key Laboratory of Precision Measurement Technology and Instruments
[2] Zhejiang University,State Key Laboratory of Fluid Power and Mechatronic Systems
来源：
Nonlinear Dynamics | 2024年 / 112卷
关键词：
Multi-DOF pneumatic manipulator; Kinematic analysis; Imbalanced torques; Decoupling control; Nonlinear extended state observer;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
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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页码：3541 / 3556
页数：15
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