TY - JOUR
T1 - Active Disturbance Rejection Controller for a Flexible Walking Bioinspired Inchworm Mobile Robot Actuated With Shape Memory Alloy Devices
AU - Lara-Ortiz, Vania
AU - Guarneros, Alejandro
AU - Llorente-Vidrio, Dusthon
AU - Cruz-Ortiz, David
AU - Salgado, Ivan
AU - Chairez, Isaac
N1 - Publisher Copyright:
© 1993-2012 IEEE.
PY - 2022/7/1
Y1 - 2022/7/1
N2 - This study presents the development of a hybrid active disturbance rejection control (H-ADRC) implementing a homogeneous extended state observer (ESO) to solve the trajectory tracking problem of an inchworm bioinspired flexible robotic device (IBFRD) with partially unknown dynamics. The proposed controller is implemented on a self-designed IBFRD instrumented with shape memory alloys (SMAs) operating as actuators in each joint of the robotic mobile device. The set of SMAs constitutes an agonist-antagonist mechanism together with regular springs that counteract the SMA displacement. The characteristic two-anchor crawling of an inchworm is modeled as a hybrid system and exerted by a bistable pneumatic circuit that switches suction cups at the terminal links of the IBFRD to exert the inchworm walking. The corresponding reference trajectories emulate an inchworm in a regular gait cycle. Experimental results compare the H-ADRC with a proportional derivative and a proportional-integral-derivative (PID) controller. The obtained results show that the proposed H-ADRC enforces a reduced tracking error than the other controllers used for validation.
AB - This study presents the development of a hybrid active disturbance rejection control (H-ADRC) implementing a homogeneous extended state observer (ESO) to solve the trajectory tracking problem of an inchworm bioinspired flexible robotic device (IBFRD) with partially unknown dynamics. The proposed controller is implemented on a self-designed IBFRD instrumented with shape memory alloys (SMAs) operating as actuators in each joint of the robotic mobile device. The set of SMAs constitutes an agonist-antagonist mechanism together with regular springs that counteract the SMA displacement. The characteristic two-anchor crawling of an inchworm is modeled as a hybrid system and exerted by a bistable pneumatic circuit that switches suction cups at the terminal links of the IBFRD to exert the inchworm walking. The corresponding reference trajectories emulate an inchworm in a regular gait cycle. Experimental results compare the H-ADRC with a proportional derivative and a proportional-integral-derivative (PID) controller. The obtained results show that the proposed H-ADRC enforces a reduced tracking error than the other controllers used for validation.
KW - Active disturbance rejection control (ADRC)
KW - flexible robots
KW - hybrid systems
KW - shape memory alloys (SMAs)
UR - http://www.scopus.com/inward/record.url?scp=85118648649&partnerID=8YFLogxK
U2 - 10.1109/TCST.2021.3123132
DO - 10.1109/TCST.2021.3123132
M3 - Artículo
AN - SCOPUS:85118648649
SN - 1063-6536
VL - 30
SP - 1790
EP - 1797
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
IS - 4
ER -