Parallel Multi-Extended State Observers based {ADRC} with Application to High-Speed Precision Motion Stage
Fuente:
arXiv
Salvato in:
| Autori principali: | , , , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2023
|
| Soggetti: | |
| Accesso online: | |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866915071755550720 |
|---|---|
| author | Tang, Guojie Xue, Wenchao Peng, Hao Zhao, Yanlong Yang, Zhijun |
| author_facet | Tang, Guojie Xue, Wenchao Peng, Hao Zhao, Yanlong Yang, Zhijun |
| contents | In this paper, the parallel multi-extended state observers (ESOs) based active disturbance rejection control approach is proposed to achieve desired tracking performance by automatically selecting the estimation values leading to the least tracking error. First, the relationship between the estimation error of ESO and the tracking error of output is quantitatively studied for single ESO with general order. In particular, the algorithm for calculating the tracking error caused by single ESO's estimation error is constructed. Moreover, by timely evaluating the least tracking error caused by different ESOs, a novel switching ADRC approach with parallel multi-ESOs is proposed. In addition, the stability of the algorithm is rigorously proved. Furthermore, the proposed ADRC is applied to the high-speed precision motion stage which has large nonlinear uncertainties and elastic deformation disturbances near the dead zone of friction. The experimental results show that the parallel multi-ESOs based ADRC has higher tracking performance than the traditional single ESO based ADRC. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2301_07269 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Parallel Multi-Extended State Observers based {ADRC} with Application to High-Speed Precision Motion Stage Tang, Guojie Xue, Wenchao Peng, Hao Zhao, Yanlong Yang, Zhijun Systems and Control Optimization and Control In this paper, the parallel multi-extended state observers (ESOs) based active disturbance rejection control approach is proposed to achieve desired tracking performance by automatically selecting the estimation values leading to the least tracking error. First, the relationship between the estimation error of ESO and the tracking error of output is quantitatively studied for single ESO with general order. In particular, the algorithm for calculating the tracking error caused by single ESO's estimation error is constructed. Moreover, by timely evaluating the least tracking error caused by different ESOs, a novel switching ADRC approach with parallel multi-ESOs is proposed. In addition, the stability of the algorithm is rigorously proved. Furthermore, the proposed ADRC is applied to the high-speed precision motion stage which has large nonlinear uncertainties and elastic deformation disturbances near the dead zone of friction. The experimental results show that the parallel multi-ESOs based ADRC has higher tracking performance than the traditional single ESO based ADRC. |
| title | Parallel Multi-Extended State Observers based {ADRC} with Application to High-Speed Precision Motion Stage |
| topic | Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2301.07269 |