Skip to main content
SpringerLink
Log in

Angle attitude tracking control for a pneumatic motion simulation platform

  • Original Paper
  • Published:
Nonlinear Dynamics Aims and scope Submit manuscript

Abstract

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.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8

Similar content being viewed by others

Data availability

Data will be available on reasonable request.

References

  1. Hassan, T., Cianchetti, M., Moatamedi, M., Mazzolai, B., Laschi, C., Dario, P.: Finite-element modeling and design of a pneumatic braided muscle actuator with multifunctional capabilities. IEEE/ASME Trans. Mechatron. 24(1), 109–1119 (2021)

    Article  Google Scholar 

  2. Liu, G., Sun, N., Yang, T., Fang, Y.: Reinforcement learning-based prescribed performance motion control of pneumatic muscle actuated robotic arms with measurement noises. IEEE Trans. Syst. Man Cybern. -Syst. 53(3), 1801–1812 (2023)

    Article  Google Scholar 

  3. Sridar, S., Poddar, S., Tong, Y., Polygerinos, P., Zhang, W.: Towards untethered soft pneumatic exosuits using low-volume inflatable actuator composites and a portable pneumatic source. IEEE Robot. Autom. Lett. 5(3), 4062–4069 (2020)

    Article  Google Scholar 

  4. Hussain, S., Xie, S., Jamwal, P.: Robust nonlinear control of an intrinsically compliant robotic gait iraining orthosis. IEEE Trans. Syst. Man Cybern. Syst. 43(3), 655–665 (2013)

    Article  Google Scholar 

  5. Liu, Y., Yang, Y., Peng, Y., Zhong, S., Liu, N., Pu, H.: A light soft manipulator with continuously controllable stiffness actuated by a thin McKibben pneumatic artificial muscle. IEEE ASME Trans. Mechatron. 25(4), 1944–1952 (2020)

    Article  Google Scholar 

  6. Zhao, L., Liu, X., Wang, T.: Trajectory tracking control for double-joint manipulator systems driven by pneumatic artificial muscles based on a nonlinear extended state observer. Mech. Syst. Signal Process. 122, 307–320 (2019)

    Article  Google Scholar 

  7. Zhao, L., Cheng, H., Xia, Y., Liu, B.: Angle tracking adaptive backstepping control for a mechanism of pneumatic muscle actuators via an AESO. IEEE Trans. Ind. Electron. 66(6), 4566–4576 (2019)

    Article  Google Scholar 

  8. Cao, Y., Huang, J., Xiong, C.: Single-layer learning-based predictive control with echo state network for pneumatic-muscle-actuators-driven exoskeleton. IEEE Trans. Cogn. Develop. Syst. 13(1), 80–90 (2021)

    Article  Google Scholar 

  9. Yang, H., Yu, Y., Zhang, J.: Angle tracking of a pneumatic muscle actuator mechanism under varying load conditions. Control. Eng. Pract. 61, 1–10 (2017)

    Article  Google Scholar 

  10. Wang, Z., Yang, G., Wang, X.: Adaptive-adaptive robust boundary control for uncertain mechanical systems with inequality constraints. Nonlinear Dyn. 110, 449–466 (2022)

    Article  Google Scholar 

  11. Liu, G., Sun, N., Yang, T., Fang, Y.: Reinforcement learning-based prescribed performance motion control of pneumatic muscle actuated robotic arms with measurement noises. IEEE Trans. Syst. Man Cybern. Syst. 53(3), 1801–1812 (2023)

    Article  Google Scholar 

  12. Zhao, L., Cheng, H., Zhang, J., Xia, Y.: Angle attitude control for a 2-DOF parallel mechanism of PMAs using tracking differentiators. IEEE Trans. Ind. Electron. 66(11), 8659–8669 (2019)

    Article  Google Scholar 

  13. Zhao, L., Cheng, H., Wang, T.: Sliding mode control for a two-joint coupling nonlinear system based on extended state observer. ISA Trans. 73, 130–140 (2020)

    Article  Google Scholar 

  14. Liu, X., Yu, H.: Continuous adaptive integral-type sliding mode control based on disturbance observer for PMSM drives. Nonlinear Dyn. 104, 1429–1441 (2021)

    Article  Google Scholar 

  15. Tornamb, A., Valigi, P.: A decentralized controller for the robust stabilization of a class of MIMO linear systems. Syst. Control Lett. 18, 383–390 (1992)

    Article  MathSciNet  MATH  Google Scholar 

  16. Li, D., Ning, X., Chen, J., Xue Y., Liu, S.: Nonlinear robust control for coordinated excitation and governor of hydroturbine generator sets. In: Proceedings of the 2007 American Control Conference. pp. 3546–3552 (2007)

  17. Chen, J., Li, D., Jiang X., Sun, X.: Adaptive feedback linearization control of a flexible spacecraft. In: Proceedings of the 6th International Conference on Intelligent Systems Design and Applications. pp. 225–230 (2006)

  18. Tornamb, A.: Global regulation of a planar robot arm striking a surface. IEEE Trans. Autom. Contr. 41(10), 1517–1521 (1992)

    Article  MathSciNet  Google Scholar 

  19. Li, D., Ning, X., Chen, J., Xue, Y., Liu, S.: Nonlinear robust control for coordinated excitation and governor of hydroturbine generator sets. In: Proceedings of the 2007 American Control Conference. pp. 3546–3552 (2007)

  20. Lam, H., Leung, F., Tam, P.: Nonlinear state feedback controller for nonlinear systems: stability analysis and design based on fuzzy plant model. IEEE Trans. Fuzzy Syst. 9(4), 657–661 (2001)

    Article  Google Scholar 

  21. Han, J.: From PID to active disturbance rejection control. IEEE Trans. Ind. Electron. 56(3), 900–906 (2009)

    Article  Google Scholar 

  22. Zhang, H., Xie, Y., Xiao, G., Zhai, C., Long, Z.: A simple discrete-time tracking differentiator and its application to speed and position detection system for a maglev train. IEEE Trans. Control Syst. Technol. 27(4), 1728–1734 (2019)

    Article  Google Scholar 

  23. Zhao, L., Yang, Y., Xia, Y., Liu, Z.: Active disturbance rejection position control for a magnetic rodless pneumatic cylinder. IEEE Trans. Ind. Electron. 62(9), 5838–5846 (2015)

    Article  Google Scholar 

  24. Yang, Z., Ji, J., Sun, X., Zhu, H., Zhao, Q.: Active disturbance rejection control for bearingless induction motor based on hyperbolic tangent tracking differentiator. IEEE Trans. Emerg. Sel. Topics Power Electorn. 8(3), 2623–2633 (2020)

    Article  Google Scholar 

  25. Tian, D., Shen, H., Dai, M.: Improving the rapidity of nonlinear tracking differentiator via feedforward. IEEE Trans. Ind. Electron. 61(7), 3736–3743 (2014)

    Article  Google Scholar 

  26. Kong, Y., Tian, D., Xiu, J., Che, X.: Nonlinear tracking differentiator based on feedforward and arctangent function. In: 39th Chinese Control Conference. pp. 2968–2973 (2020)

  27. Chou, C., Hannaford, B.: Measurement and modeling of McKibben pneumatic artificial muscles. IEEE Trans. Robot. 12(1), 90–102 (1996)

    Article  Google Scholar 

Download references

Acknowledgements

The authors would like to thank the anonymous reviewers for their detailed comments that helped to improve the quality of the paper.

Funding

The work was supported by the National Natural Science Foundation of China under Grant (62073238) and the Key projects of Natural Science Foundation of Hebei Province (F2021203054).

Author information

Authors and Affiliations

  1. School of Electrical Engineering, Yanshan University, Qinhuangdao, 066004, China

    Li Li & Chao Liu

  2. State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, 300072, China

    Ling Zhao

  3. School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an, 710000, China

    Haiyan Cheng

Authors
  1. Li Li
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Chao Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Ling Zhao
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Haiyan Cheng
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Li Li.

Ethics declarations

Conflict of interest

The authors confirm that there are no conflict of interests for this article.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Li, L., Liu, C., Zhao, L. et al. Angle attitude tracking control for a pneumatic motion simulation platform. Nonlinear Dyn 111, 21025–21035 (2023). https://doi.org/10.1007/s11071-023-08930-9

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11071-023-08930-9

Keywords

Search

Navigation