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.
Event-Triggered ADRC for Electric Cylinders with PD-Type Event-Triggering Conditions
Studies in Systems, Decision and Control
2021-03-16
22 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch