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Event-Triggered ADRC for Electric Cylinders with PD-Type Event-Triggering Conditions

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Event-Triggered Active Disturbance Rejection Control

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 356))

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Abstract

In this chapter, we illustrate the application of the proposed ET-ADRC approach through a different type of servo systems. Specifically, we consider a position tracking problem for electric cylinders used in a recently developed wheel-legged robotic system. Each leg of this robotic system is composed of six electric cylinders, which are controlled based on data from more than 12 sensors transmitted through a controller area network (CAN) and a user datagram protocol (UDP) network. The requirement of achieving satisfactory performance under limited communication resources motivates us to adopt an event-triggered control approach for the electric cylinders.

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Authors and Affiliations

  1. School of Automation, Beijing Institute of Technology, Beijing, China

    Dawei Shi, Yuan Huang & Junzheng Wang

  2. Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, Hong Kong

    Ling Shi

Authors
  1. Dawei Shi
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  2. Yuan Huang
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  3. Junzheng Wang
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  4. Ling Shi
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Correspondence to Dawei Shi .

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Shi, D., Huang, Y., Wang, J., Shi, L. (2021). Event-Triggered ADRC for Electric Cylinders with PD-Type Event-Triggering Conditions. In: Event-Triggered Active Disturbance Rejection Control. Studies in Systems, Decision and Control, vol 356. Springer, Singapore. https://doi.org/10.1007/978-981-16-0293-1_7

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