Relevant bibliographies by topics / External disturbance rejection

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  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'External disturbance rejection'

Author: Grafiati
Published: 4 June 2021
Last updated: 1 February 2022

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Journal articles on the topic "External disturbance rejection"

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Tomizuka, Masayoshi, Kok-Kia Chew, and Wei-Chi Yang. "Disturbance Rejection Through an External Model." Journal of Dynamic Systems, Measurement, and Control 112, no. 4 (December 1, 1990): 559–64. http://dx.doi.org/10.1115/1.2896180.

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This paper considers the use of external models for the cancellation of disturbances that can be regarded as output of stable (in the sense of Lyapunov) autonomous systems. The external model is set up outside the feedback loop so that the design of the feedback controller is accomplished without favoring particular disturbances. External model controllers can, therefore, be add-on devices to existing control systems. An application to track-following in a disk-file actuator system is presented.
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Liu, Chun Fang, Xiu Meng Ren, and Li Mei Wang. "The Linear Auto Disturbances Rejection Controller Application in Beam Magnetic Suspension System of Gantry Moving Type Numerical Control Machine Tool." Advanced Materials Research 499 (April 2012): 423–27. http://dx.doi.org/10.4028/www.scientific.net/amr.499.423.

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When gantry-moving type numerical control machine works, support beams of the maglev system will exist outside disturbance, internal system parameter variations and unmodeled dynamics and so on, these factors will reduce system processing accuracy. We presented that suspension air-gap of beam suspension system was controlled by using the auto disturbance rejection control technology. The auto disturbances rejection controller can regard system model parameter variations and external disturbance influence of system as comprehensive disturbance, automatic on-line estimation and compensation. Meanwhile, for solving the traditional auto disturbances rejection controller’s problems which are much more parameters and complex parameters adjustment, the linear auto disturbances rejection controller was used. Under the precondition of ensuring control effect, parameters adjustment process of the auto disturbances rejection controller was greatly simplified. The simulation results show that beam magnetic suspension system using the linear auto disturbance rejection control scheme can achieve control requirements and achieve beams friction-free stable suspension.
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Guo, Qingyuan, Gang Liu, Biao Xiang, Hu Liu, and Tong Wen. "The disturbance rejection of magnetically suspended inertially stabilized platform." Transactions of the Institute of Measurement and Control 40, no. 2 (October 7, 2016): 565–77. http://dx.doi.org/10.1177/0142331216661623.

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In a magnetically suspended inertially stabilized platform, the yaw gimbal is suspended by the magnetic bearing, which can effectively isolate the external vibrations and disturbances. However, coupling torques and disturbance torques among gimbals still exist. Therefore, based on the cross feedback compensation, the output angles of gimbals are introduced as feedback variables, and the inverse coordinate transformation matrix is designed to compensate for the coupling torques. Furthermore, a disturbance observer is applied to inhibit the disturbance torque and simulations indicate that the disturbance observer can accurately estimate the disturbance torque. Consequently, the experimental results demonstrate that the cross feedback compensation can inhabit the coupling torques, and the disturbance observer greatly suppresses the external disturbance torques and improves the angular displacement precision of gimbals.
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Wang, Guohui, Yanan Yang, and Shuxin Wang. "Adaptive Digital Disturbance Rejection Controller Design for Underwater Thermal Vehicles." Journal of Marine Science and Engineering 9, no. 4 (April 11, 2021): 406. http://dx.doi.org/10.3390/jmse9040406.

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Underwater thermal vehicles, as ocean observation tools, are frequently affected by environment disturbances such as waves and currents, which may cause degradation of the observation accuracy of the vehicles. Consequently, it is important to design a controller for a vehicle that can resist ocean disturbance. In this study, an underwater thermal vehicle principle is introduced, and the mathematical model is established in the vertical plane motion. On this basis, an adaptive digital disturbance suppression control method is proposed. For known disturbance parameters, this controller could compensate for external disturbances by pre-setting control parameters using the internal model principle and parameterizations method. For the case where the disturbance parameters are unknown, disturbance parameter estimation method based on forgetting factor least-squares method is proposed to transform the unknown parameter disturbance into a disturbance with known parameters, which is then suppressed by the adaptive digital disturbance rejection control approach. This solution could effectively solve the challenges caused by parameter uncertainty and unknown time-varying ocean external disturbances. Finally, simulations are carried out for the Petrel underwater thermal glider as an example. The simulation results show the proposed control method’s superiority and inherent robustness.
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Han, Zhao Lin, Huan Ma, and Long Ling Ge. "Analysis on Structure of Active Disturbances Rejection Controller." Advanced Materials Research 721 (July 2013): 452–55. http://dx.doi.org/10.4028/www.scientific.net/amr.721.452.

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Regarding the Active Disturbances Rejection Controller (ADRC) as main line, this present paper has Introduced Extended State Observer (ESO), Tracking Differentiator (TD), Nonlinear State Error Feedback (NLSEF), which are all the key parts of ADRC, in addition, the realization means and specific structure of ADRC is included. In ADRC control system, it is not necessary to identify the plant model and the form of external disturbance, but taking the unified model parameter perturbations and external disturbances on the system as a system disturbance for real-time compensation, therefor the control system has very good adaptability and robustness.
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Zhang, Xiaohua, Junli Gao, Wenfeng Zhang, Tao Zeng, and Liping Ye. "Distributed Formation Control for Multiple Quadrotor Based on Multi-Agent Theory and Disturbance Observer." Mathematical Problems in Engineering 2019 (February 12, 2019): 1–11. http://dx.doi.org/10.1155/2019/7234969.

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This paper presents the disturbance observers-based distributed formation control for multiple quadrotor aircrafts with external disturbances and uncertain parameters using multi-agent theory and finite-time control method. Firstly, the finite-time disturbance observers are proposed to handle the external disturbances on the position-loop. Similarly, when there are both the uncertain parameters and external disturbances on the attitude-loop, the finite-time disturbance observers are designed to estimate the total lump disturbances. By skillfully using homogeneous system theory, Lyapunov theory, and multi-agent theory, the distributed formation control algorithms are developed. Finally, through simulations, the efficiency of the proposed method (including the convergence rate and disturbance rejection) is verified.
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Yang, Wei-Chi, and Masayoshi Tomizuka. "Disturbance Rejection Through an External Model for Nonminimum Phase Systems." Journal of Dynamic Systems, Measurement, and Control 116, no. 1 (March 1, 1994): 39–44. http://dx.doi.org/10.1115/1.2900679.

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This paper considers the use of an external model for the cancellation of disturbances in a nonminimum phase system where disturbances can be regarded as the output of a stable (in the sense of Lyapunov) autonomous system. It is assumed that the parameters in the nonminimum phase system are unknown, but the orders of the numerator and denominator polynomials, and the delay steps are known. External model method is a kind of adaptive feedforward controller that the control input is the function of estimated external disturbance. In order to cancel the effect of disturbances, we use two consecutive recursive parameter identification algorithms to estimate external disturbances. The stability of the closed-loop system is proved.
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Wang, Haoping, Yeqing Lu, Yang Tian, and Nicolai Christov. "Fuzzy sliding mode based active disturbance rejection control for active suspension system." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 234, no. 2-3 (June 29, 2019): 449–57. http://dx.doi.org/10.1177/0954407019860626.

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This article deals with the control problem of 7-degrees of freedom full-car suspension system which takes into account the spring-damper nonlinearities, unmodeled dynamics and external disturbances. The existing active disturbance rejection control uses an extended state observer to estimate the “total disturbance” and eliminate it with state error feedback. In this article, a new type of active disturbance rejection control is developed to improve the ride comfort of full car suspension systems taking into account the suspension nonlinearities and actuator saturation. The proposed controller combines active disturbance rejection control and fuzzy sliding mode control and is called Fuzzy Sliding Mode active disturbance rejection control. To validate the system mathematical model and analyze the controller performance, a virtual prototype is built in Adams. The simulation results demonstrate better performance of Fuzzy Sliding Mode active disturbance rejection control compared to the existing active disturbance rejection control.
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Zhang, Zhengzheng, Bingyou Liu, and Lichao Wang. "Autonomous underwater vehicle depth control based on an improved active disturbance rejection controller." International Journal of Advanced Robotic Systems 16, no. 6 (November 1, 2019): 172988141989153. http://dx.doi.org/10.1177/1729881419891536.

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Large fluctuation, large overshoot, and uncertain external disturbance that occur when an autonomous underwater vehicle is in deep motion are difficult to address using the traditional control method. An optimal control strategy based on an improved active disturbance rejection control technology is proposed to enhance the trajectory tracking accuracy of autonomous underwater vehicles in actual bathymetric operations and resist external and internal disturbances. First, the depth motion and mathematical models of an autonomous underwater vehicle and propeller are established, respectively. Second, the control rate of the extended state observer and the nonlinear error feedback of the traditional active disturbance rejection control are improved by using a new nonlinear function. The nonlinearity, model uncertainty, and external disturbance of the autonomous underwater vehicle depth control system are extended to a new state, which is realized by an improved extended state observer. Third, the improved nonlinear state error feedback is used to suppress residual errors and provide high-quality control for the system. Simulation and experimental results show that under the same parameters, the traditional active disturbance rejection control has a small overshoot, fast tracking ability, and strong anti-interference ability. The optimized active disturbance rejection control and traditional active disturbance rejection control are applied to the deep-variation motion of autonomous underwater vehicles. Results show that the proposed optimal control strategy is not only simple and feasible but also demonstrates good control performance.
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Namdari, Hasan, Firouz Allahverdizadeh, and Alireza Sharifi. "Robust composite nonlinear feedback control for spacecraft rendezvous systems under parameter uncertainty, external disturbance, and input saturation." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 234, no. 2 (August 3, 2018): 143–55. http://dx.doi.org/10.1177/0954410018790368.

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This paper presents a new robust composite nonlinear feedback control law for accurate, smooth, and fast regulation in the presence of parameter uncertainties, external disturbances, and input saturation for a class of spacecraft rendezvous systems. The novel proposed method consists of the original composite nonlinear feedback part for good transient performance plus a nonlinear disturbance rejection part for reducing the steady-state error stemming from variable disturbances and simultaneously producing feasible control input. The nonlinear disturbance rejection relies on sliding-mode observer for disturbance estimation. Closed-loop system stability has been proved with the Lyapunov theory. Simulation results show the closed-loop stability and superior control performance.
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Dissertations / Theses on the topic "External disturbance rejection"

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Ericson, Niklas. "Investigation of Control Approaches for a High Precision, Piezo-Actuated Rotational Stage." Thesis, Linköpings universitet, Reglerteknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-131449.

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The Equipment Controls and Electronics section (EN-STI-ECE) at CERN is developing a high precision piezo-actuated rotational stage for the UA9 crystal collimation project. This collaboration is investigating how tiny bent crystals can help to steer particle beams used in modern hadron colliders such as the Large Hadron Collider (LHC). Particles are deflected by following the crystal planar channels, "channeling" through the crystal. For high energy particles the angular acceptance for channeling is very low, demanding for a high angular precision mechanism, i.e. the rotational stage. Several control-related issues arising from the complexity and operational environment of the system make it difficult to design a controller that achieves the desired performance. This thesis investigates different control approaches that could be used to improve the tracking capability of the rotational stage. It shows that the IRC method could be used to efficiently control the rotational stage. Moreover it shows that a harmonic cancellation method could be used to increase the tracking accuracy by canceling known harmonic disturbances. The harmonic cancellation method (the RFDC) was implemented in this thesis and proposed as an add-on to the present control algorithm.
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Book chapters on the topic "External disturbance rejection"

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Tomic, Teodor, Josip Kasac, and Vladimir Milic. "Rigid Body Attitude Control with Complete Rejection of Unknown External Disturbances." In DAAAM Proceedings, 0267–68. DAAAM International Vienna, 2011. http://dx.doi.org/10.2507/22nd.daaam.proceedings.132.

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Conference papers on the topic "External disturbance rejection"

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Jin, Huiyu, Yang Chen, and Weiyao Lan. "On External Disturbance Rejection of Linear ADRC." In ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-97831.

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Abstract Active disturbance rejection control (ADRC) is a quickly developing practical control technology while its ability to reject external disturbance is necessary to investigate deeply. Focusing on the simple case that the plant is an exactly known second order plant, this paper investigates the external disturbance rejection of linear ADRC. It reveals a separation diagram, in which the external disturbance goes into the output via a bandpass filter. That is the reason why linear ADRC can reject both low-frequency and high-frequency external disturbance.
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Jia, Shisen, Hong Li, Xiaolong Yan, and Jian Gao. "Active Disturbance Rejection Control of Underwater Vehicles under External Disturbances." In OCEANS 2019 - Marseille. IEEE, 2019. http://dx.doi.org/10.1109/oceanse.2019.8867399.

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Li Zong-ming. "Optimal disturbance rejection via feedforward-pd for nonliner systems with external sinusidal disturbances." In 2012 24th Chinese Control and Decision Conference (CCDC). IEEE, 2012. http://dx.doi.org/10.1109/ccdc.2012.6244459.

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Ali, Mohammed, and Charles K. Alexander. "Trajectory Tracking Control for a Robotic Manipulator Using Nonlinear Active Disturbance Rejection Control." In ASME 2017 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dscc2017-5088.

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The tracking performance of a robot manipulator is controlled using nonlinear active disturbance rejection control (ADRC). The proposed method does not require the complete knowledge of the plant’s parameters, and external disturbances since it is based on the rejection and estimation of the unknown internal dynamics and external disturbances. The proposed method is simple and has minimal tuning parameters. The robustness of the proposed method is discussed against parameter uncertainties and disturbances. First, the mathematical model of the manipulator is developed. ADRC theory is explained. The manipulator is represented in ADRC form. ADRC’s tracking performance for the joints and end-effector is compared to the tracking performance of the robust passivity (RP) control. The simulations prove that the proposed control method achieves good tracking performance compared to RP control. It is shown that ADRC has a lower energy consumption compared to RP control by calculating the power in the input signals.
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Daqaq, Mohammed, Yousef Qaroush, Reza Saeidpourazar, Nader Jalili, and Joshua Tarbutton. "Feedback Delays for Vibration Mitigation and External Disturbance Rejection at the Microscale." In 50th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference. Reston, Virigina: American Institute of Aeronautics and Astronautics, 2009. http://dx.doi.org/10.2514/6.2009-2661.

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Ling, Yuchang, Junyi Dong, Hongbo Yang, Yali Xue, Jiang Zeng, and Donghai Li. "Linear Active Disturbance Rejection Control for Grid-Connected Inverter With LCL Filter." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-67148.

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This paper proposes a linear active disturbance rejection control (LADRC) for gird-connected inverter with LCL filter to deal with parameters variation, internal coupling and external disturbance. Relative degree of plant is used to design LADRC and on the basis of relationship between LADRCs parameters and bandwidth, the parameters tuning are sum up in several guidable points. It is demonstrated that LADRC presents a good dynamic performances, high disturbance rejection and extremely robust to parameters variation in Matlab/Simulink.
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Ranka, Trupti, Mario Garcia-Sanz, and John M. Ford. "Extended State Observer Based Controller Design for the Green Bank Telescope Servo System." In ASME 2015 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/dscc2015-9677.

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The Green Bank Telescope is a large flexible structure, requiring rms tracking error ≤ 3 arcseconds against internal and external disturbances. We design an extended state observer (ESO) based controller in various configurations to improve tracking performance and increase disturbance rejection. The controllers are simulated with an experimentally validated model of the GBT. Through the simulations, the response of ESO based controllers and legacy PID controller are compared using time and frequency domain responses. We show that the ESO based controller when implemented in both position and velocity loop can give significant improvement in tracking performance and better disturbance rejection without increase in controller output.
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Lu, Qi, Beibei Ren, Siva Parameswaran, and Qing-Chang Zhong. "Robust Position Control of a Quadrotor Using Onboard Optical Flow Sensor." In ASME 2016 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/dscc2016-9812.

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In this paper, the uncertainty and disturbance estimator (UDE)-based position controllers are developed to achieve the robust position control of a quadrotor using only onboard sensing. Firstly, in order to accurately estimate the positions of the quadrotor in GPS-denied environments, an open source high speed optical flow sensor PX4FLOW is adopted. Secondly, the UDE-based controllers are developed to handle the challenges brought by the highly nonlinear quadrotor position dynamics, including underactuation, coupling, nonaffine inputs, model uncertainties and external disturbances. Real flight experiments, including hover and disturbance rejection are carried out to demonstrate the effectiveness of the developed UDE-based controllers.
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Nie, Wenming, Huifeng Li, Ran Zhang, and Bo Liu. "Extended State Observer Based Ascent Trajectory Tracking Method." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-67131.

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The ascent trajectory tracking problem of a launch vehicle is investigated in this paper. To improve the conventional trajectory linearization method which usually omits the linearization errors, the extended state observer (ESO) is employed in this paper to timely estimate the total disturbance which consists of the external disturbances and the modeling uncertainties resulting from linearization error. It is proven that the proposed trajectory tracking controller can guarantee the desired performance despite both external disturbances and the modeling uncertainties. Moreover, compared with the conventional linearization control method, the proposed controller is shown to have much better performance of uncertainty rejection. Finally, the feasibility and performance of this controller are illuminated via simulation studies.
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Haddad, N. Khraief, A. Chemori, and S. Belghith. "External disturbance rejection in IDA-PBC controller for underactuated mechanical systems: From theory to real time experiments." In 2014 IEEE Conference on Control Applications (CCA). IEEE, 2014. http://dx.doi.org/10.1109/cca.2014.6981565.

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