Angle attitude control for a networked pneumatic muscle actuators system with input quantization: A prescribed-time...

Area of Science:

• Robotics and Control Systems
• Actuator Technology
• Networked Systems Engineering

Background:

• Networked pneumatic muscle actuators systems (NPMAS) face challenges with input quantization and external disturbances.
• High-frequency oscillations during quantization can degrade system performance.
• Accurate state estimation and disturbance rejection are crucial for precise angle control in NPMAS.

Purpose of the Study:

• To develop an effective angle attitude control strategy for NPMAS.
• To address challenges posed by input quantization and system disturbances.
• To achieve accurate angle tracking and ensure system stability.

Main Methods:

• A hysteretic quantizer was designed to mitigate high-frequency oscillations.
• A novel prescribed-time nonlinear extended state observer (PTNESO) was developed for state and disturbance observation.
• An active disturbance rejection control (ADRC) method integrated with PTNESO was implemented for disturbance compensation.
• Lyapunov stability analysis was used to determine bounded stability conditions.

Main Results:

• The PTNESO ensures observation errors converge within a prescribed time.
• The ADRC method effectively compensates for lumped disturbances, enabling accurate angle tracking.
• Experimental results demonstrate the superiority of the proposed control method over existing approaches.
• The proposed hysteretic quantizer effectively prevents high-frequency oscillations.

Conclusions:

• The proposed control strategy enhances the performance of NPMAS in the presence of quantization and disturbances.
• The integration of PTNESO and ADRC offers a robust solution for precise angle control.
• The study validates the effectiveness and practical applicability of the developed control system through experimental verification.