Model-free active input–output feedback linearization of a single-link flexible joint manipulator: An improved active disturbance rejection control approach

Traditional input–output feedback linearization requires full knowledge of system dynamics and assumes no disturbance at the input channel and no system’s uncertainties. In this paper, a model-free active input–output feedback linearization technique based on an improved active disturbance rejection...

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Vydáno v:Measurement and control (London) Ročník 54; číslo 5-6; s. 856 - 871
Hlavní autoři: Abdul-Adheem, Wameedh Riyadh, Ibraheem, Ibraheem Kasim, Humaidi, Amjad J, Azar, Ahmad Taher
Médium: Journal Article
Jazyk:angličtina
Vydáno: London, England SAGE Publications 01.05.2021
Sage Publications Ltd
SAGE Publishing
Témata:
Active control
Control theory
Disturbances
Error feedback
Feedback control
Feedback linearization
Integrators
Liapunov functions
Manipulators
Nonlinear systems
Output feedback
Rejection
Stability analysis
State observers
System dynamics
Uncertainty
flexible joint manipulator
nonlinear state error feedback
extended state observer
generalized disturbance
Active input–output feedback linearization
ISSN:0020-2940, 2051-8730
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Shrnutí:Traditional input–output feedback linearization requires full knowledge of system dynamics and assumes no disturbance at the input channel and no system’s uncertainties. In this paper, a model-free active input–output feedback linearization technique based on an improved active disturbance rejection control paradigm is proposed to design feedback linearization control law for a generalized nonlinear system with a known relative degree. The linearization control law is composed of a scaled generalized disturbance estimated by an improved nonlinear extended state observer with saturation-like behavior and the nominal control signal produced by an improved nonlinear state error feedback. The proposed active input–output feedback linearization cancels in real-time fashion the generalized disturbances which represent all the unwanted dynamics, exogenous disturbances, and system uncertainties and transforms the system into a chain of integrators up to the relative degree of the system, which is the only information required about the nonlinear system. Stability analysis has been conducted based on the Lyapunov functions and revealed the convergence of the improved nonlinear extended state observer and the asymptotic stability of the closed-loop system. Verification of the outcomes has been achieved by applying the proposed active input–output feedback linearization technique on the single-link flexible joint manipulator. The simulations results validated the effectiveness of the proposed active input–output feedback linearization tool based on improved active disturbance rejection control as compared to the conventional active disturbance rejection control–based active input–output feedback linearization and the traditional input–output feedback linearization techniques.
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ISSN:0020-2940
2051-8730
DOI:10.1177/0020294020917171