Finite-Time Trajectory Tracking Control for Rodless Pneumatic Cylinder Systems With Disturbances
Ling Zhao, Shaomeng Gu, Jinhui Zhang, Sihang Li
Abstract
In this article, a finite-time trajectory tracking control problem is studied for a rodless pneumatic cylinder system with disturbance in an inner outer loop framework. In the inner loop system, the generalized nonlinear extended state observer and the inner loop controller are designed to estimate and compensate the matched disturbances, respectively. The generalized nonlinear extended state observer designed in this article achieves desired convergence performance under relaxed existence conditions. In the outer-loop system, a super twisting extended state observer and an outer loop controller are designed to estimate and compensate the unmatched disturbances, respectively. The super twisting extended state observer is designed to realize finite-time stable by using the super twisting technology. Finally, experiment results are shown that finite-time control performances are obtained by the proposed control strategy.