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Angle attitude tracking control for a pneumatic motion simulation platform
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AI
DOI：10.1007/s11071-023-08930-9.png)
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摘要
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The tracking speed and control precision of a pneumatic motion simulation platform (PMSP) are reduced by sensor noises, model uncertainties and unknown modeling dynamics. A nonlinear Tornambe controller (NTC) using series-connecting nonlinear tracking differentiator (NTD) with feedforward is presented to angle track for the PMSP. The NTC is proposed to estimate and compensate the model uncertainties and the unknown modeling dynamics. For decreasing influence of the sensor noises, the series-connecting NTD with feedforward is designed to get heigh order differentiation estimations of system errors and reduce system error estimation delay. Stabilities of the NTDs with feedforward and the closed-loop system with NTC are analyzed by Lyapunov method. The effectiveness of the control method is confirmed through experiments.
Keyword:
Pneumatic muscle actuators (PMAs)
Pneumatic motion simulation platform
Sensor noises
Nonlinear Tornambe controller
Nonlinear tracking differentiator with feedforward
期刊
IF:
6
论文数:
1.4W
被引数:
4.1W
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