High-order Fully Actuated Approach for Output Position Control of Two Mass Systems based on Extended State Observer

Ping Li1; Guang-Ren Duan1,2; Bi Zhang3; Yuzhong Wang1

10.1109/FASTA61401.2024.10595104

2024-05-12

979-8-3503-7370-7

2024 3rd Conference on Fully Actuated System Theory and Applications (FASTA)

10-12 May 2024

Shenzhen, China

This paper proposes a high-order fully actuated (HOFA) control approach for the output position control of two-mass systems (TMSs) based on extended state observer (ESO). TMSs belongs to a class of underactuated mechanical systems, which can be converted into an HOFA model using variable elimination. Based on the feature of HOFA model, it is extremely simple to solve the position control law such that a desired tracking error system can be achieved. To handle the control issues of high-order derivatives and unknown disturbances, a linear ESO is employed for state estimation and active disturbance rejection control, where the lumped disturbance is treated as an extended system state. The theoretical stability of control system is analyzed with the help of sliding manifold. Comparative simulations are performed to demonstrate the effectiveness of the proposed approach.

第一

EI

1.Shenzhen Key Laboratory of Control Theory and Intelligent Systems, School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China
2.Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin, China
3.Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China

Ping Li,Guang-Ren Duan,Bi Zhang,et al. High-order Fully Actuated Approach for Output Position Control of Two Mass Systems based on Extended State Observer[C],2024.