For pneumatic servo systems,the motion of the piston,parameter variations,and modeling uncertainties further increase the difficulty of high-precision position control.A third-order mathematical model is established for the pneumatic 3-UPU robot system to provide a roughly accurate reference model for control algorithms.An high-precision pose control algorithm based on auto-disturbance rejection controller(ADRC)is proposed,which combines nonlinear PID with a tracking differentiator to arrange a fast and smooth transition process.The leakage flow rate of the cylinder is utilized as a disturbance to design an extended state observer,constructing an ADRC controller suitable for high-precision pneumatic 3-UPU robots.Results show that the ADRC controller has strong robustness,with a steady-state control accuracy of approximately 0.45 mm and a dynamic(0.2 Hz)tracking root mean square error of less than 10.0 mm.
pose controlADRC3-UPU robotpneumatic system modeling
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