Positioning control of a one-DOF manipulator driven by pneumatic artificial muscles based on active disturbance rejection control

The purpose of this paper is to study positioning control performance of the one-DOF manipulator driven by pneumatic artificial muscles using active disturbance rejection controller. Owing to the pneumatic artificial muscle´s highly nonlinear and time-varying behavior, it is difficult to achieve good positioning performance. In this paper, the nonlinear and time-varying behavior of pneumatic artificial muscle is considered as disturbance to be estimated by extended state observer. Tracking differentiator is designed to get corresponding smooth signal and differential signal of reference input to avoid overshoot. A linear error feedback combining with estimated value compensation of disturbance is designed to ensure a good response of system. Moreover, stability analysis of the close-loop system is given by Lyapunov theory. Finally, simulation results verify the effectiveness of the proposed controller.