In this paper, an active disturbance rejection control scheme with a nonlinear sampled-data extended state observer (NSESO) is proposed for a pneumatic muscle actuator (PMA) system. The phenomenon of the actuator saturation is taken into account in the design procedure. The NSESO is utilized to estimate the so-called total disturbance that reflects the aggregated impacts of unmodeled nonlinearities and disturbances. Then, an NSESO-based composite control strategy is designed, where the estimates provided by the designed NSESO serve as the compensation to eliminate the total disturbance. Finally, a number of practical experiments on the PMA systems are conducted to verify the validity and applicability of the proposed design method.

中文翻译：

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具有致动器饱和度的气动肌肉致动器系统的基于非线性 ESO 的有源抗扰控制的采样数据方法


本文提出了一种针对气动肌肉执行器（PMA）系统的带有非线性采样数据扩展状态观测器（NSESO）的自抗扰控制方案。在设计过程中考虑了执行器饱和现象。 NSESO 用于估计所谓的总扰动，它反映了未建模的非线性和扰动的聚合影响。然后，设计了一种基于 NSESO 的复合控制策略，其中设计的 NSESO 提供的估计作为消除总扰动的补偿。最后，在PMA系统上进行了大量的实际实验，验证了所提出的设计方法的有效性和适用性。