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Active Disturbance Rejection Tracking Control for a Nonlinear Pneumatic Muscle System

Hongjiu Yang*, Yang Yu, Jing Qiu, and Changchun Hua
International Journal of Control, Automation, and Systems, vol. 15, no. 5, pp.2376-2384, 2017

Abstract : "This paper presents active disturbance rejection tracking control for a nonlinear pneumatic muscle system. Unmodeled dynamics, varying parameters and external disturbances are merged into generalized disturbances in the pneumatic muscle system. An error-feedback controller is designed to guarantee tracking precision based on an extended state observer. Some experimental results are given to show the effectiveness of developed techniques in this paper."

Keyword : Active disturbance rejection control, generalized disturbance, nonlinear system, tracking control.

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