Journal articles: 'External disturbance rejection'

1

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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Niu, Dan, Xisong Chen, Xiaojun Wang, and Xingpeng Zhou. "Composite disturbance rejection control for hydraulic classification." Transactions of the Institute of Measurement and Control 40, no. 6 (March 15, 2017): 1863–72. http://dx.doi.org/10.1177/0142331217693917.

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In the hydraulic classification, precise control for the flow rate of overflow water is vital to guarantee the uniformity and stability of the powder product size. Usually the multiple overflow tanks are supplied by a shared overflow pipeline, which gives rise to large coupling effects in the controls for the flow rates of multiple overflow tanks simultaneously. To solve this issue, it is necessary to keep the water pressure in the shared overflow pipeline accurately constant, which is not easy due to strong disturbances. Several control strategies have been proposed to control the constant water pressure. However, most of them (such as proportional-integral-derivative and model predictive control) reject disturbances just through feedback regulation and do not reject disturbances directly. This may cause poor control performances in the presence of strong disturbances. For improving the disturbance rejection performance, a control scheme based on proportional-integral-derivatives and disturbance observer is put forward in this paper. The scheme employs disturbance observer as feedforward compensation and a proportional-integral-derivative controller as feedback regulation. The disturbance rejection properties under both model mismatches and external disturbances are discussed. The test results illustrate that the proposed method can remarkably improve the disturbance attenuation property compared with the conventional proportional-integral-derivative method in the hydraulic classification process.

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Zhang, Jinhui, Peng Shi, Yuanqing Xia, Hongjiu Yang, and Shuoyu Wang. "Composite disturbance rejection control for Markovian Jump systems with external disturbances." Automatica 118 (August 2020): 109019. http://dx.doi.org/10.1016/j.automatica.2020.109019.

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Liu, Bingyou, Yi Jin, Changan Zhu, and Changzheng Chen. "Pitching axis control for a satellite camera based on a novel active disturbance rejection controller." Advances in Mechanical Engineering 9, no. 2 (February 2017): 168781401668903. http://dx.doi.org/10.1177/1687814016689039.

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The pitching axis of a satellite camera is controlled under the weightless environment. A novel active disturbance rejection controller is designed to eliminate the influences of the pitching axis. The novel active disturbance rejection controller is designed based on a new nonlinear function, and thus, this function is first established. The function exhibits better continuity and smoothness than previously available functions, hence, it can effectively improve the high-frequency flutter phenomenon. Therefore, the novel active disturbance rejection controller based on the new nonlinear function can eliminate disturbances of the pitching axis. The novel active disturbance rejection controller is composed of a tracking differentiator, a novel extended state observer, and a novel nonlinear state error feedback. The tracking differentiator is used to arrange the transient process. Nonlinear dynamics, model uncertainty, and external disturbances are extended to a new state. The novel extended state observer is utilized to observe this state. The overtime variation of the system can be predicted and compensated using the novel extended state observer. The novel nonlinear state error feedback is adopted to restrain the residual errors of the system. Finally, simulation experiments are performed, and results show that the novel active disturbance rejection controller exhibits better performance than the traditional active disturbance rejection controller.

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Alhelou, M., and A. I. Gavrilov. "Synthesis of Active Disturbance Rejection Control." Herald of the Bauman Moscow State Technical University. Series Instrument Engineering, no. 4 (133) (December 2020): 22–41. http://dx.doi.org/10.18698/0236-3933-2020-4-22-41.

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Synthesis of Active Disturbance Rejection Control (ADRC) has been discussed in this work. Two main approaches have been presented for the second-order ADRC: Linear ADRC and nonlinear ADRC. A design procedure for the three main components of ADRC: controller, estimator, and disturbance rejection scheme has been presented in each approach. Parameters of the linear approach are tuned using the desired closed loop system bandwidth. Parameters of the nonlinear approach are selected by categorizing them first into usual parameters and key parameters. After that, the key parameters are optimized using Genetic Algorithm (GA). The two approaches have been tested on a quarter-car system that deals with the passenger comfort problem. Simulation results show a good performance and a good compensation for external disturbances and dynamic uncertainties

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15

Zhang, Wei, Ying Bo Cai, and Xue Tong Wei. "Simulation on Active Disturbance Rejection Control." Applied Mechanics and Materials 391 (September 2013): 420–23. http://dx.doi.org/10.4028/www.scientific.net/amm.391.420.

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A highly robust active disturbance rejection controller (ADRC) is developed in this paper. The proposed ADRC consists of a tracking differentiator (TD) in the feed forward path, an extended state observer (ESO), and a nonlinear state error feedback control law (NLSEF) in the feedback path. The control theory, the structure of ADRC and the controller design are presented. LabVIEW is used for modeling, simulation and analysis of the dynamic system. Simulation results show that the proposed ADRC has excellent control performance, especially outstanding adaptability and robustness external disturbances and model uncertainties.

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Chen, Dai Xie, Bo Hua Yin, Jun Biao Liu, Wen Ping Li, Li Qiang Wu, and Han Li. "Active Disturbance Rejection Control Design for Fast AFM." Key Engineering Materials 645-646 (May 2015): 670–74. http://dx.doi.org/10.4028/www.scientific.net/kem.645-646.670.

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Active disturbance rejection control (ADRC) as an alternative to classical PID control to solving control problems, has gained significant traction these years. With its simple tuning method, robustness against process parameter variations and ability of disturbance rejection, we tried it in our homemade fast atomic force microscope (AFM). Experiments are carried out in contact mode on standard optical grating sample with 50Hz line rate. The results show that ADRC can reject external disturbances well, and can reduce system vibrations obviously.

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Wang, Zhaoqiang, Zhen Wang, Mingen Wu, and Yiping Luo. "Multivariable Robust Fault Tolerant Control For Work-Class Remotely Operated Vehicle." Periodica Polytechnica Mechanical Engineering 61, no. 2 (March 29, 2017): 87. http://dx.doi.org/10.3311/ppme.9312.

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To deal with complex disturbances and the presence of partial loss of propeller effectiveness in work-class remotely operated vehicles (ROVs), a method of robust fault tolerant control is proposed, which is based on adaptive sliding mode control. In this approach, adaptive technique is employed to estimate the bounds’ information of external complex disturbances and the effectiveness loss of the propeller. And a sliding mode controller is then designed to achieve fault tolerant control and external disturbance rejection. Corresponding stability of the closed-loop control system is analyzed using Lyapunov stability theory. Apply this method to trajectory tracking control of work-class ROVs, the simulation results validate that great fault tolerant capability and a good performance of external disturbance rejection can be achieved even under partial loss of propeller effectiveness.

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Li, Xing, Bingyou Liu, and Lichao Wang. "Control system of the six-axis serial manipulator based on active disturbance rejection control." International Journal of Advanced Robotic Systems 17, no. 4 (July 1, 2020): 172988142093947. http://dx.doi.org/10.1177/1729881420939476.

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This study considers the problems of manipulators with high coupling, parameter uncertainties, and external disturbances. A six-axis serial manipulator control system based on active disturbance rejection control strategy is proposed without the requirement of the exact dynamic model. First, the operating circuit of the manipulator joint motor is analyzed, and the mathematical model of the direct-current torque motor is established. Second, the components of active disturbance rejection control are designed, and a new nonlinear function is selected to construct the extended state observer and nonlinear state error feedback control law. Then, Kalman filter is introduced into an extended state observer to estimate the disturbance efficiently. Finally, the proportion–integration–differentiation control, traditional active disturbance rejection control, and improved active disturbance rejection control are simulated and compared under the same input signal. The results show that the proposed control strategy has good dynamic performance and uncertain disturbance robustness, which proves the effectiveness of the proposed method.

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Zhou, Xiangyang, Chao Yang, Beilei Zhao, Libo Zhao, and Zhuangsheng Zhu. "A High-Precision Control Scheme Based on Active Disturbance Rejection Control for a Three-Axis Inertially Stabilized Platform for Aerial Remote Sensing Applications." Journal of Sensors 2018 (July 17, 2018): 1–9. http://dx.doi.org/10.1155/2018/7295852.

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This paper presents a high-precision control scheme based on active disturbance rejection control (ADRC) to improve the stabilization accuracy of an inertially stabilized platform (ISP) for aerial remote sensing applications. The ADRC controller is designed to suppress the effects of the disturbance on the stabilization accuracy that consists of a tracking differentiator, a nonlinear state error feedback, and an extended state observer. By the ADRC controller, the effects of both the internal uncertain dynamics and the external multisource disturbances on the system output are compensated as a total disturbance in real time. The disturbance rejection ability of the ADRC is analyzed by simulations. To verify the method, the experiments are conducted. The results show that compared with the conventional PID controller, the ADRC has excellent capability in disturbance rejection, by which the effect of main friction disturbance on the control system can be weakened seriously and the stabilization accuracy of the ISP is improved significantly.

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Pu, Cuiping, Yicheng Zhu, and Jianbo Su. "Drum Water Level Control Based on Improved ADRC." Algorithms 12, no. 7 (June 28, 2019): 132. http://dx.doi.org/10.3390/a12070132.

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Drum water level systems show strong disturbance, big inertia, large time delay, and non-linearity characteristics. In order to improve the antidisturbance performance and robustness of the traditional active disturbance rejection controller (ADRC), an improved linear active disturbance rejection controller (ILADRC) for drum water level is designed. On the basis of the linear active disturbance rejection controller (LADRC) structure, an identical linear extended state observer (ESO) is added with the same parameters as that of the original one. The estimation error value of the total disturbance is introduced, and the estimation error of the total disturbance is compensated, which can improve the control system’s ability to suppress unknown disturbances, so as to improve the antidisturbance performance and robustness. The antijamming performance and robustness of LADRC and ILADRC for drum water level are simulated and analyzed under the influence of external disturbance and model parameter variation. Results show that the proposed control system ILADRC has shorter settling time, smaller overshot, and strong anti-interference ability and robustness. It has better performance than the LADRC and has certain application value in engineering.

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Wang, Yongjun, Zhi Li, and Xiang Li. "External Disturbances Rejection for Vector Field Sensors in Attitude and Heading Reference Systems." Micromachines 11, no. 9 (August 25, 2020): 803. http://dx.doi.org/10.3390/mi11090803.

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The attitude and heading reference system (AHRS), which consists of tri-axial magnetometer, accelerometer, and gyroscope, has been widely adopted for three-dimensional attitude determination in recent years. It provides an economical means of passive navigation that only relies on gravity and geomagnetic fields. However, despite the advantages of small size, low cost, and low power, the magnetometer and accelerometer are susceptible to external disturbances, such as the magnetic interference from nearby ferromagnetic objects and current-carrying conductors, as well as the motional acceleration of the carrier. To eliminate such disturbances, a vector-based parallel structure is introduced for the attitude filter design, which can avoid the mutual interference between gravity and geomagnetic vectors. Meanwhile, an approach to estimate and compensate the external disturbances in real time for magnetometer and accelerometer is also presented. Compared with existing designs, the proposed filter architecture and external disturbance rejection algorithm can feasibly and effectively cooperate with mainstream data fusion techniques, including complementary filter and Kalman filter. According to experiment results, in the case that large and persistent external disturbances exist, the proposed method can improve the accuracy and robustness of attitude estimation, and it outperforms the existing methods such as switching filter and adaptive filter. Furthermore, through the experiments, the critical role of fading factor in handling the external disturbance is revealed.

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Han, Yaofei, Guofeng He, Xiaohong Fan, Qingyu Zhao, and Huifang Shen. "Design and analysis of improved ADRC controller for multiple grid-connected photovoltaic inverters." Modern Physics Letters B 32, no. 34n36 (December 30, 2018): 1740103. http://dx.doi.org/10.1142/s0217984918401036.

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When multiple inverters are connected to the grid, due to the uncertainty of the internal model and the presence of external disturbances, the grid-connected current waveform will deviate from the expectation. In this paper, Active Disturbance Rejection Control (ADRC) strategy is presented to suppress the internal and external perturbations, moreover, the first-order ADRC parameters are designed. Finally, MATLAB/Simulink is utilized to verify the control strategy of ADRC. The simulation results demonstrate that the ADRC method can suppress the disturbance effectively.

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Hu, Hongjun, Shungen Xiao, and Haikuo Shen. "Modified Linear Active Disturbance Rejection Control for Uncertain Robot Manipulator Trajectory Tracking." Mathematical Problems in Engineering 2021 (June 4, 2021): 1–13. http://dx.doi.org/10.1155/2021/8892032.

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To solve the problems of model uncertainties, dynamic coupling, and external disturbances, a modified linear active disturbance rejection controller (MLADRC) is proposed for the trajectory tracking control of robot manipulators. In the computer simulation, MLADRC is compared to the proportional-derivative (PD) controller and the regular linear active disturbance rejection controller (LADRC) for performance tests. Multiple uncertain factors such as friction, parameter perturbation, and external disturbance are sequentially added to the system to simulate an actual robot manipulator system. Besides, a two-degree-of-freedom (2-DOF) manipulator is constructed to verify the control performance of the MLADRC. Compared with the regular LADRC, MLADRC is significantly characterized by the addition of feedforward control of reference angular acceleration, which helps robot manipulators keep up with target trajectories more accurately. The simulation and experimental results demonstrate the superiority of the MLADRC over the regular LADRC for the trajectory tracking control.

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De-xin, Gao, and Du Hou-peng. "Optimal Disturbance Rejection via Feedforward-PD for MIMO Systems with External Sinusoidal Disturbances." Procedia Engineering 15 (2011): 459–63. http://dx.doi.org/10.1016/j.proeng.2011.08.087.

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Yang, Qing Jiang, and Hong Yang Liu. "Simulation Research of Auto Disturbance Rejection Control System for Mineral Inverter Source." Advanced Materials Research 779-780 (September 2013): 1184–87. http://dx.doi.org/10.4028/www.scientific.net/amr.779-780.1184.

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For the strong external interference and system nonlinearity and other characteristics in mineral inverter system, we propose a simple auto disturbance rejection controller. The dynamic observation of the uncertain factors and external interference in the system model can be made possible by the use of the extended state observer of the auto disturbances rejection so as to improve the system adaptability to the interference. The simulation tests show that the controller has less overshoot, more adjustable transience and wider selection domain in the stable range to the controlling parameters, meanwhile, the controller has greater adaptability to the inverter power system.

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CHAK, CHU KWONG, and GANG FENG. "Adaptive control with external model for periodic disturbance rejection." International Journal of Systems Science 25, no. 11 (November 1994): 1965–76. http://dx.doi.org/10.1080/00207729408949326.

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Lou, Wenjie, Ming Zhu, and Xiao Guo. "Spatial trajectory tracking control for unmanned airships based on active disturbance rejection control." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 233, no. 6 (May 10, 2018): 2231–40. http://dx.doi.org/10.1177/0954410018774124.

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In this paper, to address the spatial trajectory tracking problem of unmanned airships, a robust controller based on active disturbance rejection control is presented. By transforming the airship model to a standardized form, a straightforward design approach is adopted for the design of the controller. Active disturbance rejection control is composed of a tracking differentiator, an extended state observer, and a nonlinear state error feedback. The proposed controller replaces the conventional tracking differentiator with a third-order differentiator. The new tracking differentiator provides higher tracking precision and smoother transient process. The external disturbances and model uncertainties are observed by the extended state observer and compensated in the controller design, subsequently. Comparisons with technologies frequently used in the trajectory tracking are made through numerical simulation. The comparisons validate that the proposed controller provides satisfying performance and robustness in the presence of model uncertainty and external disturbance.

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Liu, Ping, Weijie Sun, and Zhendong Sun. "Active Disturbance Rejection Control of a 2D MEMS Micromirror with Sidewall Electrodes." Unmanned Systems 04, no. 01 (January 2016): 35–40. http://dx.doi.org/10.1142/s2301385016400045.

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This study proposes the active disturbance rejection control (ADRC) for a second degree of freedom (2D) electrostatic torsional micromirror with sidewall electrodes. The main idea is to use the linear extended state observer (LESO) to estimate the external disturbance and the angular velocity of the micromirror, and a feedback controller is further applied to achieve the position control of the micromirror. The effectiveness of the LESO in the estimation of the external disturbance and angular velocity is demonstrated. The proposed novel control scheme provides the micromirror with high positioning accuracy and disturbance rejection.

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Yu, Yang, Zengqiang Mi, Tong Zhao, and Yikun Xu. "An Improved Internal Model Principle Based Multivariable Nonlinear Control Method with Multiclass Nonharmonic Disturbances and Its Application to Speed Control of a Motor Drive System." Abstract and Applied Analysis 2014 (2014): 1–9. http://dx.doi.org/10.1155/2014/570542.

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We study the global disturbance rejection problem for a class of general multivariable nonlinear systems with multiclass nonharmonic disturbances. The paper first introduces the importance and state of the art for disturbance rejection problem and describes the control problem in the form of mathematical expressions. It stresses the multiclass disturbances produced by the exosystem satisfying certain characteristic conditions. Then, the nonlinear internal models are designed in accordance with different characteristics of multiclass external disturbances. On the basis of introduction of the control law for disturbance-free system, a multivariable state feedback controller is devised in terms of the designed internal model equations and corresponding assumptions. A Lyapunov function is constructed to theoretically prove the global uniform boundness of all signals for the multivariable closed-loop system. Finally, the presented method is applied to implement the speed control and reject the multiclass nonharmonic disturbances for a two-input motor drive system. The simulation results testify correctness and effectiveness of the presented algorithm.

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Li, Mengyang, and Mingcong Deng. "Operator-based external disturbance rejection of perturbed nonlinear systems by using robust right coprime factorization." Transactions of the Institute of Measurement and Control 40, no. 10 (August 1, 2017): 3169–78. http://dx.doi.org/10.1177/0142331217718899.

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In this paper, a class of nonlinear systems with external disturbance and internal perturbation are considered by using operator-based robust right coprime factorization for guaranteeing robust stability, rejecting adverse effects resulting from the existing disturbance and perturbation quantitatively and, meanwhile, realizing output tracking performance. In detail, firstly, robust stability is guaranteed based on a Lipschitz norm inequation using robust right coprime factorization. Secondly, based on the proposed design scheme, a convenient framework is obtained for discussing rejection issues for external disturbance and internal perturbation. Thirdly, from an error signal point of view, the adverse effects resulting from the external disturbance and internal perturbation of the nonlinear system are removed by the designed nonlinear operator. Moreover, output tracking performance is realized using the proposed design scheme simultaneously. Finally, a simulation example is given to confirm the effectiveness of the proposed design scheme of this paper.

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Yan, T. H., B. He, X. D. Chen, and X. S. Xu. "The Discrete-Time Sliding Mode Control with Computation Time Delay for Repeatable Run-Out Compensation of Hard Disk Drives." Mathematical Problems in Engineering 2013 (2013): 1–13. http://dx.doi.org/10.1155/2013/505846.

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The presented is a study on the problem of disturbance rejection, specifically the periodic disturbance, by applying discrete-time sliding mode control method. For perturbations such as modeling errors and external disturbances, their compensation is formulated using the designed sliding mode control. To eliminate the effect of these perturbations, the convergence rate between the disturbance and their compensation has been shaped by an additional parameter. Decoupling of the resultant perturbation estimation dynamics from the closed loop dynamics is achieved. Computation time delay is also presented to address the perturbation effects. The approach developed ensures the robustness of the sliding mode dynamics to parameter uncertainties and exogenous disturbances, in addition to the complete rejection of the periodic disturbance component. Satisfactory simulation results as well as experimental ones have been achieved based on a fast servo system of a modern hard disk drive to illustrate the validity of the controller for repeatable run-out (RRO) compensation.

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Song, Sumian, Chong Tang, Zidong Wang, and Gangfeng Yan. "Active disturbance rejection controller design for stable walking of a compass-like biped." Transactions of the Institute of Measurement and Control 40, no. 14 (December 7, 2017): 4063–77. http://dx.doi.org/10.1177/0142331217741957.

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This paper aims to develop an active disturbance rejection controller design scheme for compass-like biped robots. In the previous study, with a special designed mechanical structure on compass-like biped, we have generated a high-efficient walking gait. The original controller applied linearization approximation based on the method transverse coordinate control, with which the ability of disturbance rejection is insufficient. We introduce the active disturbance rejection controller method into the control scheme, which only requires the information of angular momentum and has the ability to compensate the model error and the external disturbance. With the new control strategy, the linearization approximation method is replaced by an active disturbance rejection controller and the robustness is improved. In order to further apply this control method, a switching control strategy has been proposed and a series of numerical simulations show that active disturbance rejection controller has a good disturbance rejection effect.

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Zhou, Kai, Min Ai, Yancheng Sun, Xiaogang Wu, and Ran Li. "PMSM Vector Control Strategy Based on Active Disturbance Rejection Controller." Energies 12, no. 20 (October 10, 2019): 3827. http://dx.doi.org/10.3390/en12203827.

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Based on current research into the vector control principles of the permanent magnet synchronous motor (PMSM), a control strategy founded upon an Active Disturbances Rejection Controller (ADRC) is proposed. This control strategy consists of an ADRC speed loop and current controller. By studying the factors affecting the running state of a PMSM, a mathematical model is established, and the design principle of the active disturbances rejection controller is analyzed in order to design the ADRC speed loop. The speed loop considers errors caused by uncertain factors, such as external disturbances, to be the disturbance amount, which is observed and then compensated for by the ADRC, thereby improving the dynamic and static performance as well as the anti-disturbance capability of the system. In order to achieve the strong coupling of the PMSM, the current controller was also designed to decouple the d–q axis current. Our simulation and experimental results demonstrate the feasibility and practicability of this control strategy.

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Nguyen, Manh Hung, Hoang Vu Dao, and Kyoung Kwan Ahn. "Active Disturbance Rejection Control for Position Tracking of Electro-Hydraulic Servo Systems under Modeling Uncertainty and External Load." Actuators 10, no. 2 (January 22, 2021): 20. http://dx.doi.org/10.3390/act10020020.

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In this paper, an active disturbance rejection control is designed to improve the position tracking performance of an electro-hydraulic actuation system in the presence of parametric uncertainties, non-parametric uncertainties, and external disturbances as well. The disturbance observers (Dos) are proposed to estimate not only the matched lumped uncertainties but also mismatched disturbance. Without the velocity measurement, the unmeasurable angular velocity is robustly calculated based on the high-order Levant’s exact differentiator. These disturbances and angular velocity are integrated into the control design system based on the backstepping framework which guarantees high-accuracy tracking performance. The system stability analysis is analyzed by using the Lyapunov theory. Simulations based on an electro-hydraulic rotary actuator are conducted to verify the effectiveness of the proposed control method.

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Fareh, Raouf, Mohammad Al-Shabi, Maamar Bettayeb, and Jawhar Ghommam. "Robust Active Disturbance Rejection Control For Flexible Link Manipulator." Robotica 38, no. 1 (April 12, 2019): 118–35. http://dx.doi.org/10.1017/s026357471900050x.

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SummaryThis paper presents an advanced robust active disturbance rejection control (ADRC) for flexible link manipulator (FLM) to track desired trajectories in the joint space and minimize the link’s vibrations. It has been shown that the ADRC technique has a very good disturbance rejection capability. Both the internal dynamics and the external disturbances can be estimated and compensated in real time. The proposed robust ADRC control law is developed to solve the problems existing in the original version of the ADRC related to the disturbance estimation errors and the variation of the parameters. Indeed, these parameters cannot be included in the existing disturbances and then be estimated by the extended state observer. The proposed control law is based on the sliding mode technique, which considers the uncertainties in the control gains and disturbance estimation errors. Lyapunov theory is used to prove the closed-loop stability of the system. The proposed control strategy is simulated and tested experimentally on one FLM. The effect of the observer bandwidth on the system performance is simulated and studied to select the best values of the bandwidth frequency. The simulation and experimental results show that the proposed robust ADRC has better performance than the traditional ADRC.

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Cheng, Xianlei, Guojian Tang, Peng Wang, and Luhua Liu. "Predictive Sliding Mode Control for Attitude Tracking of Hypersonic Vehicles Using Fuzzy Disturbance Observer." Mathematical Problems in Engineering 2015 (2015): 1–13. http://dx.doi.org/10.1155/2015/727162.

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We propose a predictive sliding mode control (PSMC) scheme for attitude control of hypersonic vehicle (HV) with system uncertainties and external disturbances based on an improved fuzzy disturbance observer (IFDO). First, for a class of uncertain affine nonlinear systems with system uncertainties and external disturbances, we propose a predictive sliding mode control based on fuzzy disturbance observer (FDO-PSMC), which is used to estimate the composite disturbances containing system uncertainties and external disturbances. Afterward, to enhance the composite disturbances rejection performance, an improved FDO-PSMC (IFDO-PSMC) is proposed by incorporating a hyperbolic tangent function with FDO to compensate for the approximate error of FDO. Finally, considering the actuator dynamics, the proposed IFDO-PSMC is applied to attitude control system design for HV to track the guidance commands with high precision and strong robustness. Simulation results demonstrate the effectiveness and robustness of the proposed attitude control scheme.

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Chu, Zhaobi, Songgang Zhou, Min Zhu, and Hua Li. "Finite-time trajectory control for a quadrotor aircraft using disturbance observer." International Journal of Advanced Robotic Systems 17, no. 2 (March 1, 2020): 172988142090384. http://dx.doi.org/10.1177/1729881420903847.

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In this article, we investigate the problem of finite-time trajectory tracking control for a quadrotor aircraft with unknown external disturbances. To improve convergence rate and disturbance rejection performance, a new composite controller is proposed by integrating finite-time control design and disturbance estimation attenuation technique. Explicit Lyapunov function is given to ensure the finite-time stability of the closed-loop control system. Numerical simulations also show the effectiveness of the proposed method.

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Huang, Hong Cheng, Yi Zhang, and Heng Deng. "Disturbance Observer in Robust DC Motor Control." Applied Mechanics and Materials 614 (September 2014): 219–23. http://dx.doi.org/10.4028/www.scientific.net/amm.614.219.

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The disturbance observer is a specific method of designing a two degree of freedom control structure to achieve insensitivity to modeling error and disturbance rejection. It has been successfully applied in a variety of motion control applications. In motion control, the major sources of uncertainties are friction, inertia, and external disturbances. These uncertainties should be taken into account by any robust motion controller. In this paper, this element is a PD (proportional-derivative) controller. The disturbance observer proves its advantages through the simulation and experiments. With disturbance observer, better tracking performance can be achieved with less control energy.

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Suhail, Suhail Ahmad, Mohammad Abid Bazaz, and Shoeb Hussain. "MPC based active disturbance rejection control for automated steering control." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 235, no. 12 (March 19, 2021): 3199–206. http://dx.doi.org/10.1177/09544070211004506.

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This paper proposes a control strategy for the design of an automated steering control for an autonomous electric vehicle. The proposed Active Disturbance Rejection Control (ADRC) with Model Predective Control (MPC) is not only capable of alleviating the disturbance but also shows robustness against structured uncertainties which may arise due to models that represent the vehicle dynamics. Simulations have been carried out to assess the effectiveness of the proposed control strategy. Simulation results show that the proposed scheme is better in terms of tracking performance than MPC and ADRC. The steering control system, with the proposed strategy, can achieve faster response, higher tracking accuracy, and improved robustness performance in dealing with model uncertainties and external disturbances.

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Cortés-Romero, John, Alberto Luviano-Juárez, and Hebertt Sira-Ramírez. "A Delta Operator Approach for the Discrete-Time Active Disturbance Rejection Control on Induction Motors." Mathematical Problems in Engineering 2013 (2013): 1–9. http://dx.doi.org/10.1155/2013/572026.

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The problem of active disturbance rejection control of induction motors is tackled by means of a generalized PI observer based discrete-time control, using the delta operator approach as the methodology of analyzing the sampled time process. In this scheme, model uncertainties and external disturbances are included in a general additive disturbance input which is to be online estimated and subsequently rejected via the controller actions. The observer carries out the disturbance estimation, thus reducing the complexity of the controller design. The controller efficiency is tested via some experimental results, performing a trajectory tracking task under load variations.

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Chen, Congyan, Wenbin Song, and Shichen Ding. "Continuous Integral Terminal Sliding Mode Control for Double-Layer Peltier System Based on Finite-Time Observer." Mathematical Problems in Engineering 2020 (May 5, 2020): 1–10. http://dx.doi.org/10.1155/2020/4364823.

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This paper addresses the finite-time tracking problem for the double-layer Peltier system. Peltier is a semiconductor thermoelectrical transform device. It is widely used in the thermal tactile reappearance area. To expand temperature differences, Peltier is usually used in the form of double layers. There are some uncertain factors such as state coupling, external disturbance, and parameter perturbation in double-layer Peltier. Therefore, it is of great theoretical and practical significance to design a controller with superior performance. To this end, a compound continuous integral terminal sliding mode control strategy is proposed here. Firstly, finite-time disturbance observers are designed for feedforward compensation and evaluating the external disturbances. Secondly, the strong robustness of the sliding mode control enhances the disturbance rejection of the system. The continuous integral sliding mode makes the input continuous and weakens the chattering. Also, the terminal sliding mode improves the convergence speed of the system on the sliding surface significantly. The performance of the proposed method is analyzed through Lyapunov stability analysis, simulations, and experiments. Compared to nonsmooth finite-time control, the continuous integral terminal sliding mode control achieves rapid temperature stability and better disturbance rejection under the same condition of finite-time convergence.

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Cheng, Chunhua, Hang Yang, Qian Wang, Lin Li, Qiang Han, Huan Ouyang, Haiyang Ma, and Xinyi Lv. "Attitude Tracking of Rigid Spacecraft with Actuator Saturation and Fault Based on a Compound Control." Mathematical Problems in Engineering 2020 (December 27, 2020): 1–14. http://dx.doi.org/10.1155/2020/6692547.

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A compound control based on active disturbance rejection control (ADRC) scheme and slide mode control (SMC) is proposed to investigate the attitude tracking problem for a spacecraft with modeling uncertainties, external disturbances, actuator failures, and actuator saturations simultaneously. A positive term including control input is separated from the system, and then, the active disturbance rejection concept and the extended state observer (ESO) are applied to deal with the general uncertain item caused by uncertainties, external disturbances, actuator failures, and actuator saturations. The sliding mode surface is designed to transform the attitude tracking problem into attitude stabilization problem. In order to deal with the actuator saturations, a saturation degree coefficient and its corresponding adaptive law are introduced. Compared to other existing references, the proposed scheme does not need to know the structure or upper bound information of the inertial matrix uncertainties and external disturbances. Finally, the stability of the closed-loop system is analyzed by using input to state stability theory. Simulation results are given to verify the effectiveness of the proposed scheme. More importantly, the proposed technique can also be applied to the attitude stabilization of other aircraft, such as the attitude of unmanned aerial vehicle and helicopter in maritime rescue.

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DANESH, M. "External Force Disturbance Rejection in Robotic Arms: An Adaptive Approach." IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E88-A, no. 10 (October 1, 2005): 2504–13. http://dx.doi.org/10.1093/ietfec/e88-a.10.2504.

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Liu, Yu’ang, Qing Wang, Chaoyang Dong, and Maopeng Ran. "Time-varying formation control for unmanned aerial vehicles with external disturbances." Transactions of the Institute of Measurement and Control 41, no. 13 (March 21, 2019): 3777–86. http://dx.doi.org/10.1177/0142331219836588.

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Time-varying formation control for unmanned aerial vehicles (UAVs) swarm systems with external disturbances is investigated via active disturbance rejection control (ADRC). The external disturbances are estimated by a designed extended state observer (ESO). Then, a distributed formation control protocol is designed according to the output of ESO, under which the predefined time-varying formation can be achieved. The closed-loop system under the proposed control strategy is analyzed. In addition, the expression of formation center function of the disturbed formation control is also depicted. Finally, numerical instances are simulated in order to demonstrate the validity and superiority of the proposed control strategy.

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Guo, Wenxiao, Yanbin Zhao, Ruiqin Li, Haigang Ding, and Jianwei Zhang. "Active Disturbance Rejection Control of Valve-Controlled Cylinder Servo Systems Based on MATLAB-AMESim Cosimulation." Complexity 2020 (September 11, 2020): 1–10. http://dx.doi.org/10.1155/2020/9163675.

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The valve-controlled cylinder position servo system has the advantages of large output force and large power. As characteristics of nonlinearity and uncertainty exist in the hydraulic servo system, it is difficult for the traditional PID control to meet the requirements of high precision and control. The active disturbance rejection control (ADRC) considers the uncertainty of the system and external disturbances as the total disturbance. In this paper, the valve-controlled cylinder servo system is designed based on ADRC, its working principle is described, and its mathematical model and cosimulation model based on MATLAB-AMESim are established. In the case of constant load, variable load, and long pipeline, the comparative simulation of ADRC and PID is carried out. The simulation results show that the ADRC can effectively suppress the disturbance of the internal parameter changes and external load changes of the hydraulic system and has strong robustness and high control accuracy. This study provides a reference for the application of ADRC in electrohydraulic servo systems.

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Lu, Jiayu, and Siqin Chang. "A novel active disturbance rejection controller for an electromagnetic valve actuator." MATEC Web of Conferences 202 (2018): 02010. http://dx.doi.org/10.1051/matecconf/201820202010.

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In order to achieve fully variable and precise motion control of the electromagnetic valve actuator, enhance the engine performance, a novel active disturbance rejection controller for an electromagnetic valve actuator based on trajectory planning and acceleration feedforward is proposed. A fourth-order trajectory planning is used to achieve fully variable valve motion control, including variable valve lift and timing. It can also reduce the impact and vibration of EMVA system. Active disturbance rejection controller is used to estimate the variant dynamic and external disturbances of the system. The acceleration feedforward is compensated for the system to improve the tracking and steady state accuracy. Comparative simulations results show the proposed controller can improve the dynamic performance and the robustness of the system, and enhance the control precision.

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Guo, Jining, Haoyu Zhang, and Desheng Liu. "Investigation of the Hydraulic Servo System of the Rolling Mill Using Nonsingular Terminal Sliding Mode-Active Disturbance Rejection Control." Mathematical Problems in Engineering 2020 (December 10, 2020): 1–12. http://dx.doi.org/10.1155/2020/3467213.

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In order to improve the disturbance rejection ability and tracking accuracy of the hydraulic servo system of the rolling mill, this study combines nonsingular terminal sliding mode control (NTSMC) with active disturbance rejection control (ADRC). A fourth-order extended state observer was designed to estimate the disturbance of the system in real time. The stability of the control system was tested using the Lyapunov method. System effectiveness was verified through simulation experiments. Simulation results showed that the designed state observer can estimate the total disturbance of the system in real time and that the chattering of the control input can be eliminated by the introduction of a state observer. In terms of uncertainty in the system model caused by load changes and external interference signals, the nonsingular terminal sliding mode-active disturbance rejection control method exhibited better disturbance rejection capacity and a higher tracking accuracy than NTSMC.

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Meng, YiBo, BingYou Liu, and LiChao Wang. "Speed Control of PMSM Based on an Optimized ADRC Controller." Mathematical Problems in Engineering 2019 (May 22, 2019): 1–18. http://dx.doi.org/10.1155/2019/1074702.

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Permanent-magnet synchronous motor (PMSM) is a nonlinear, multivariate, strongly coupled system with uncertain external interference. A general control method cannot meet system requirements. This study proposes an optimal control strategy based on active disturbance rejection control (ADRC) to achieve high-precision control of PMSM. First, interpolation fitting is used to construct a nonlinear function with improved continuity and derivative near the origin and segment points. Second, various components of active disturbance rejection control are constructed based on the new nonlinear function, which mainly improves the extended state observer and nonlinear state error feedback. Simulation results show that under similar parameters, the improved active disturbance rejection control has smaller overshoot, faster tracking capacity, and stronger anti-interference capability compared with traditional active disturbance rejection control. Finally, the optimized active disturbance rejection control is used in the motion control system of PMSM. Experimental results show that the proposed optimal control strategy is simple and has good control performance.

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Song, Fei, and Shiyin Qin. "Robust Fault-Tolerant Control for Satellite Attitude Stabilization Based on Active Disturbance Rejection Approach with Artificial Bee Colony Algorithm." Mathematical Problems in Engineering 2014 (2014): 1–17. http://dx.doi.org/10.1155/2014/512707.

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This paper proposed a robust fault-tolerant control algorithm for satellite stabilization based on active disturbance rejection approach with artificial bee colony algorithm. The actuating mechanism of attitude control system consists of three working reaction flywheels and one spare reaction flywheel. The speed measurement of reaction flywheel is adopted for fault detection. If any reaction flywheel fault is detected, the corresponding fault flywheel is isolated and the spare reaction flywheel is activated to counteract the fault effect and ensure that the satellite is working safely and reliably. The active disturbance rejection approach is employed to design the controller, which handles input information with tracking differentiator, estimates system uncertainties with extended state observer, and generates control variables by state feedback and compensation. The designed active disturbance rejection controller is robust to both internal dynamics and external disturbances. The bandwidth parameter of extended state observer is optimized by the artificial bee colony algorithm so as to improve the performance of attitude control system. A series of simulation experiment results demonstrate the performance superiorities of the proposed robust fault-tolerant control algorithm.

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Zhang, Ke, Wenjun Yang, Minghuan Zhang, and Pei Wang. "LESO Based Dynamic Surface Control for Hypersonic Flight Vehicle." Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University 36, no. 1 (February 2018): 13–19. http://dx.doi.org/10.1051/jnwpu/20183610013.

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In the presence of model parametric uncertainties and external disturbances, a LESO-based dynamic surface control approach is designed for the longitudinal model of Hypersonic Flight Vehicle (HFV). Via Nonlinear Dynamic Inversion (NDI) technique, the decoupling of altitude and velocity is realized. Combining with conventional back-stepping technique, a low pass filter (LPF) is introduced to attain the derivation of virtual control laws, which avoids the problem of "differentiation explosion". A linear extended state observer (LESO) is designed for the precise estimation and compensation of "lumped disturbance" containing parametric uncertainties and external disturbances, which tremendously improves the ability of disturbance rejection of the system. The stability of the proposed approach is analyzed by means of Lyapunov theory. The simulation results demonstrate that the proposed methodology has good command tracking performance, and the approach is robust in the presence of lumped disturbances.

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Journal articles on the topic 'External disturbance rejection'

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