TY - GEN
T1 - High-order Fully Actuated Approach for Output Position Control of Two Mass Systems based on Extended State Observer
AU - Li, Ping
AU - Duan, Guang Ren
AU - Zhang, Bi
AU - Wang, Yuzhong
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - This paper proposes a high-order fully actuated (HOFA) control approach for the output position control of two-mass systems (TMSs) based on extended state observer (ESO). TMSs belongs to a class of underactuated mechanical systems, which can be converted into an HOFA model using variable elimination. Based on the feature of HOFA model, it is extremely simple to solve the position control law such that a desired tracking error system can be achieved. To handle the control issues of high-order derivatives and unknown disturbances, a linear ESO is employed for state estimation and active disturbance rejection control, where the lumped disturbance is treated as an extended system state. The theoretical stability of control system is analyzed with the help of sliding manifold. Comparative simulations are performed to demonstrate the effectiveness of the proposed approach.
AB - This paper proposes a high-order fully actuated (HOFA) control approach for the output position control of two-mass systems (TMSs) based on extended state observer (ESO). TMSs belongs to a class of underactuated mechanical systems, which can be converted into an HOFA model using variable elimination. Based on the feature of HOFA model, it is extremely simple to solve the position control law such that a desired tracking error system can be achieved. To handle the control issues of high-order derivatives and unknown disturbances, a linear ESO is employed for state estimation and active disturbance rejection control, where the lumped disturbance is treated as an extended system state. The theoretical stability of control system is analyzed with the help of sliding manifold. Comparative simulations are performed to demonstrate the effectiveness of the proposed approach.
KW - Extended state observer (ESO)
KW - High-order fully actuated (HOFA) approach
KW - Output position control
KW - Two-mass system (TMS)
UR - https://www.scopus.com/pages/publications/85200582258
U2 - 10.1109/FASTA61401.2024.10595104
DO - 10.1109/FASTA61401.2024.10595104
M3 - 会议稿件
AN - SCOPUS:85200582258
T3 - Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024
SP - 1193
EP - 1198
BT - Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024
Y2 - 10 May 2024 through 12 May 2024
ER -