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Backstepping and ADRC Techniques Applied to One-DOF Link Manipulator with External Disturbances and Input Saturation

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Neural Information Processing (ICONIP 2017)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 10639))

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Abstract

In this paper, via the active disturbance rejection control (ADRC), backstepping technique as well as the auxiliary system, we focus on the position control problem for one-DOF link manipulator with external disturbances and input saturation. The extended state observer (ESO) does not depend on the accurate model of systems, which is utilized to compensate external disturbances. The auxiliary system is employed to overcome the control input saturation. It is shown, from the input to state stability (ISS) and Lyapunov stability theorem, that the tracking error can be gradually converged into arbitrarily small neighborhood of the origin. The simulation results are given to illustrate the effectiveness of the proposed tracking control scheme.

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Acknowledgments

This work is supported in part by National Natural Science Foundation of China under Grant 61503194 and 61533010, in part by the Research and Development Program of Jiangsu Province under Grant BE2016184, in part by Natural Science Foundation of Jiangsu Province under Grant BK20140877, in part by Key University Natural Science Research Project of Jiangsu Province under Grant 17KJA120003, in part by Jiangsu Government Scholarship for Overseas Studies under Grant 2017-037.

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Authors and Affiliations

  1. College of Automation, Nanjing University of Posts and Telecommunications, Nanjing, 210023, People’s Republic of China

    Yang Yang & Jie Tan

Authors
  1. Yang Yang
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  2. Jie Tan
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Correspondence to Yang Yang .

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Editors and Affiliations

  1. Guangdong University of Technology, Guangzhou, China

    Derong Liu

  2. Guangdong University of Technology, Guangzhou, China

    Shengli Xie

  3. South China University of Technology, Guangzhou, China

    Yuanqing Li

  4. Institute of Automation, Chinese Academy of Sciences, Beijing, China

    Dongbin Zhao

  5. King Fahd University of Petroleum and Minerals, Dhahran, Saudi Arabia

    El-Sayed M. El-Alfy

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Yang, Y., Tan, J. (2017). Backstepping and ADRC Techniques Applied to One-DOF Link Manipulator with External Disturbances and Input Saturation. In: Liu, D., Xie, S., Li, Y., Zhao, D., El-Alfy, ES. (eds) Neural Information Processing. ICONIP 2017. Lecture Notes in Computer Science(), vol 10639. Springer, Cham. https://doi.org/10.1007/978-3-319-70136-3_9

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  • DOI: https://doi.org/10.1007/978-3-319-70136-3_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-70135-6

  • Online ISBN: 978-3-319-70136-3

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