In this chapter, we illustrate the application of the proposed ET-ADRC approach through a different type of servo systems. Specifically, we consider a position tracking problem for electric cylinders used in a recently developed wheel-legged robotic system. Each leg of this robotic system is composed of six electric cylinders, which are controlled based on data from more than 12 sensors transmitted through a controller area network (CAN) and a user datagram protocol (UDP) network. The requirement of achieving satisfactory performance under limited communication resources motivates us to adopt an event-triggered control approach for the electric cylinders.


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    Titel :

    Event-Triggered ADRC for Electric Cylinders with PD-Type Event-Triggering Conditions


    Weitere Titelangaben:

    Studies in Systems, Decision and Control


    Beteiligte:
    Shi, Dawei (Autor:in) / Huang, Yuan (Autor:in) / Wang, Junzheng (Autor:in) / Shi, Ling (Autor:in)


    Erscheinungsdatum :

    2021-03-16


    Format / Umfang :

    22 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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