Trajectory Tracking Control of Pneumatic Servo System: A Variable Gain ADRC Approach
针对气动伺服系统，提出一种误差驱动的变增益自抗扰控制方法，通过动态调整跟踪微分器、扩张状态观测器和误差反馈控制器的增益，提升轨迹跟踪精度和抗扰性能，仿真和实验验证了有效性。
In this article, a novel error-driven variable gain active disturbance rejection control (ADRC) approach is developed for pneumatic servo system, and the desired performance of trajectory tracking and the disturbance rejection can be guaranteed. The proposed variable gain ADRC includes three parts: 1) variable gain tracking differentiator (TD); 2) variable gain extended state observer (ESO); and 3) variable gain error feedback controller (EFC). The proposed variable gain TD is noise tolerant and possesses a variable gain, which can be dynamically adjusted according to the tracking error, and the performance for tracking the reference signal and extracting its derivative is improved. The variable gain ESO is also equipped with a variable gain driven by estimation errors to improve the estimation performance. Then, the variable gain EFC is further designed to improve control accuracy. Finally, simulations and experimental results are presented to verify the efficiency of the proposed methods.