Skip to content
Back to outputs

Active disturbance rejection control of Euler-Lagrange systems exploiting internal damping

Research output: Contribution to journalArticlepeer-review

Standard

Active disturbance rejection control of Euler-Lagrange systems exploiting internal damping. / Ren, Chao; Ding, Yutong; Hu, Liang; Liu, Jinguo; Ju, Zhaojie; Ma, Shugen.

In: IEEE Transactions on Cybernetics, 23.10.2020.

Research output: Contribution to journalArticlepeer-review

Harvard

APA

Vancouver

Author

Ren, Chao ; Ding, Yutong ; Hu, Liang ; Liu, Jinguo ; Ju, Zhaojie ; Ma, Shugen. / Active disturbance rejection control of Euler-Lagrange systems exploiting internal damping. In: IEEE Transactions on Cybernetics. 2020.

Bibtex

@article{bc7dfe197cd0474d86c5db9374862a5f,
title = "Active disturbance rejection control of Euler-Lagrange systems exploiting internal damping",
abstract = "Active disturbance rejection control (ADRC) is an efficient control technique to accommodate both internal uncertainties and external disturbances. In the typical ADRC framework, however, the design philosophy is to “force” the system dynamics into double integral form by extended state observer (ESO) and then controller is designed. Specially, the systems{\textquoteright} physical structure has been neglected in such design paradigm. In this paper, a new ADRC framework is proposed by incorporating at a fundamental level the physical structure of Euler-Lagrange (EL) systems. In particular, the differential feedback gain can be selected considerably small or even zero, due to an effective exploitation of the system{\textquoteright}s internal damping. The design principle stems from analysis of the energy balance of EL systems, yielding a physically interpretable design. Moreover, the exploitation of system{\textquoteright}s internal damping is thoroughly discussed, which is of practical significance for applications of the proposed design. Besides, a sliding mode ESO is designed to improve the estimation performance over traditional linear ESO. Finally, the proposed control framework is illustrated through tracking control of an omnidirectional mobile robot. Extensive experimental tests are conducted to verify the proposed design as well as the discussions.",
keywords = "dampiing, robots, uncertainty, control systems, dynamical systems, dynamics, gravity",
author = "Chao Ren and Yutong Ding and Liang Hu and Jinguo Liu and Zhaojie Ju and Shugen Ma",
year = "2020",
month = oct,
day = "23",
doi = "10.1109/TCYB.2020.3026190",
language = "English",
journal = "IEEE Transactions on Cybernetics",
issn = "2168-2267",
publisher = "Institute of Electrical and Electronics Engineers",

}

RIS

TY - JOUR

T1 - Active disturbance rejection control of Euler-Lagrange systems exploiting internal damping

AU - Ren, Chao

AU - Ding, Yutong

AU - Hu, Liang

AU - Liu, Jinguo

AU - Ju, Zhaojie

AU - Ma, Shugen

PY - 2020/10/23

Y1 - 2020/10/23

N2 - Active disturbance rejection control (ADRC) is an efficient control technique to accommodate both internal uncertainties and external disturbances. In the typical ADRC framework, however, the design philosophy is to “force” the system dynamics into double integral form by extended state observer (ESO) and then controller is designed. Specially, the systems’ physical structure has been neglected in such design paradigm. In this paper, a new ADRC framework is proposed by incorporating at a fundamental level the physical structure of Euler-Lagrange (EL) systems. In particular, the differential feedback gain can be selected considerably small or even zero, due to an effective exploitation of the system’s internal damping. The design principle stems from analysis of the energy balance of EL systems, yielding a physically interpretable design. Moreover, the exploitation of system’s internal damping is thoroughly discussed, which is of practical significance for applications of the proposed design. Besides, a sliding mode ESO is designed to improve the estimation performance over traditional linear ESO. Finally, the proposed control framework is illustrated through tracking control of an omnidirectional mobile robot. Extensive experimental tests are conducted to verify the proposed design as well as the discussions.

AB - Active disturbance rejection control (ADRC) is an efficient control technique to accommodate both internal uncertainties and external disturbances. In the typical ADRC framework, however, the design philosophy is to “force” the system dynamics into double integral form by extended state observer (ESO) and then controller is designed. Specially, the systems’ physical structure has been neglected in such design paradigm. In this paper, a new ADRC framework is proposed by incorporating at a fundamental level the physical structure of Euler-Lagrange (EL) systems. In particular, the differential feedback gain can be selected considerably small or even zero, due to an effective exploitation of the system’s internal damping. The design principle stems from analysis of the energy balance of EL systems, yielding a physically interpretable design. Moreover, the exploitation of system’s internal damping is thoroughly discussed, which is of practical significance for applications of the proposed design. Besides, a sliding mode ESO is designed to improve the estimation performance over traditional linear ESO. Finally, the proposed control framework is illustrated through tracking control of an omnidirectional mobile robot. Extensive experimental tests are conducted to verify the proposed design as well as the discussions.

KW - dampiing

KW - robots

KW - uncertainty

KW - control systems

KW - dynamical systems

KW - dynamics

KW - gravity

U2 - 10.1109/TCYB.2020.3026190

DO - 10.1109/TCYB.2020.3026190

M3 - Article

JO - IEEE Transactions on Cybernetics

JF - IEEE Transactions on Cybernetics

SN - 2168-2267

ER -

ID: 23345946