Active Disturbance Rejection Control of High-Order Flat Underactuated Systems: Mass-Spring Benchmark Problem

This article presents a fixed-time active disturbance rejection control approach for the attitude control problem of quadrotor unmanned aerial vehicle in the presence of dynamic wind, mass eccentricity and an actuator fault. The control scheme applies the feedback linearization technique and enhances the performance of the traditional active disturbance rejection control (ADRC) based on the fixed-time high-order sliding mode method. A switching-type uniformly convergent differentiator is used to improve the extended state observer for estimating and attenuating the lumped disturbance more accurately. A multivariable high-order sliding mode feedback law is derived to achieve fixed time convergence. The timely convergence of the designed extended state observer and the feedback law is proved theoretically. Mathematical simulations with detailed actuator models and real time experiments are performed to demonstrate the robustness and practicability of the proposed control scheme.

Download Full-text

A New Nonlinear Active Disturbance Rejection Control for the Cable Car System to Restrain the Vibration

Complexity ◽

10.1155/2020/3796849 ◽

2020 ◽

Vol 2020 ◽

pp. 1-12

Author(s):

Xinyan Hu ◽

Lina Li

Keyword(s):

Disturbance Rejection ◽

System Model ◽

Active Disturbance Rejection Control ◽

Active Disturbance Rejection ◽

The People ◽

Disturbance Rejection Control ◽

Proposed Model ◽

Spring System ◽

Linear Invariant ◽

Mass Spring

The safety of the cable car system is very important for the lives of the people. But, it is easily affected by the environment such as the wind which causes the cable car system to have strong vibration disturbance, thus degrading the safety of the cable car system. In this paper, a new nonlinear active disturbance rejection control (ADRC) is proposed to restrain the vibration of the cable car. First, a new two-mass-spring system model is utilized to establish the cable car system model. The new translation vibration nonlinear model is derived by a linear-invariant two-mass-spring system. Then, a special nonlinear fal• is designed to restrain the vibration, and a new high-order nonlinear ADRC is presented for the cable car system. Finally, simulation results verify the feasibility and accuracy of the proposed model.

Download Full-text

Lower-Order Active Disturbance Rejection Control and Frequency Analysis of High Order System

Volume 9: 13th ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications ◽

10.1115/detc2017-67127 ◽

2017 ◽

Author(s):

Ruiqing Zhang ◽

Shubo Zhang ◽

Yali Xue ◽

Yu Hu ◽

Wendi Wang

Keyword(s):

Transfer Function ◽

Frequency Analysis ◽

Lower Order ◽

Disturbance Rejection ◽

High Order ◽

Order System ◽

Active Disturbance Rejection Control ◽

High Order System ◽

Active Disturbance Rejection ◽

Disturbance Rejection Control

Linear active disturbance rejection control (LADRC) has been paid much attention in academic and industrial fields. However, the selection of the order for LADRC controller design and the choice of parameter b0 in system correcting are key facts which are still being faced by designer. In this paper, an effective method about how to select the order of LADRC and the parameter b0 is given first. Frequency analysis often used by engineers for designing controller, the normal transfer function form of LADRC is constructed, so the loop gain, close loop transfer function and disturbance transfer function to a general high-order system are presented and can be easily used. The example shows that the proposed method is easy to apply and verified the lower-order LADRC can obtain the better effective than PID and high-order LADRC, and the frequency response analysis of a thermal power plant is elaborated and the simulation result indicates that LADRC has a strong robustness against the large variation of parameters in the plant mode.

Download Full-text