5 accepted papers
In this paper, fixed-time variable gain trajectory tracking control is designed for solving nonlinear unknown disturbance problems of 6-DOF manipulators. The designed control method comprises a fixed-time variable gain disturbance observer (FTVGDOB) and a fixed-time variable gain controller (FTVGC),
In this letter, a novel discrete active disturbance rejection control (ADRC) method is proposed to solve the trajectory tracking problem for a four-mecanum-wheeled mobile vehicle (FMWMV). The discrete ADRC method consists of a discrete variable-gain extended state observer (VGESO) and a discrete var
In this letter, a multi-chamber soft bending pneumatic muscle (SBPM) is designed, which can achieve any-directional angle bending in space. The dynamic model of the multi-chamber SBPM is established by using Euler-Lagrange equation. To realize desired angle tracking control performances of the multi
In this article, a new nonlinear disturbance observer (NDO) based fixed-time dynamic surface control (FTDSC) approach is developed to achieve desired trajectory tracking control performances of the pneumatic manipulator system driven by pneumatic artificial muscles (PAMs). To achieve active disturba
In this letter, a novel variable gain active disturbance rejection control (VGADRC) approach is developed for solving the trajectory tracking problem of delta parallel manipulators with disturbances. The proposed VGADRC, including variable gain tracking differentiator (VGTD), variable gain extended