Designing Active Disturbance Rejection Control of Permanent Magnetic Spherical Actuator Based on Nonlinear Extended State Observer

Authors

  • Xiwen Guo School of Electrical Engineering and Automation, Anhui University, China
  • Xianda Liao School of Electrical Engineering and Automation, Anhui University, China
  • Qunjing Wang Anhui Key Laboratory of Industrial Energy-Saving and Safety, Anhui University, China
  • Yan Wen School of Internet, Anhui University, China
  • Tao Wu National Engineering Laboratory of Energy-Saving Motor & Control Technology, Anhui University, China

DOI:

https://doi.org/10.5755/j02.eie.30102

Keywords:

Permanent magnet spherical actuator, Active disturbance rejection control, Trajectory tracking, Nonlinear extended state observer

Abstract

Aiming at the problems of low control precision and poor anti-disturbances ability of permanent magnet spherical actuator (PMSA), an active disturbance rejection trajectory tracking control method based on nonlinear extended state observer (NESO) is proposed in this paper. Firstly, the multivariable and strong coupling mathematical model of the PMSA is obtained by rigid body rotation coordinate transformation and the Lagrange dynamic equation. Then, the tracking differentiator is used to reduce the influence caused by the expected trajectory jump. In addition, NESO is designed to observe and calculate coupling of the system, external disturbance, and model error online. Finally, the nonlinear control law is used to compensate for the observed disturbance, and the stability is proved based on the Lyapunov equation. Simulation and experimental results show that the proposed control scheme can achieve decoupling and tracking control of the complex system in the presence of model error, random disturbance, and other uncertain factors, has good control accuracy and response speed, and has strong robustness to uncertain disturbances.

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Published

2022-02-24

How to Cite

Guo, X., Liao, X., Wang, Q., Wen, Y., & Wu, T. (2022). Designing Active Disturbance Rejection Control of Permanent Magnetic Spherical Actuator Based on Nonlinear Extended State Observer. Elektronika Ir Elektrotechnika, 28(1), 23-31. https://doi.org/10.5755/j02.eie.30102

Issue

Section

ELECTRICAL ENGINEERING

Funding data