Nonlinear fractional order proportion-integral-derivative active disturbance rejection control method design for hypersonic vehicle attitude control

2015 ◽  
Vol 111 ◽  
pp. 160-169 ◽  
Author(s):  
Jia Song ◽  
Lun Wang ◽  
Guobiao Cai ◽  
Xiaoqiang Qi
Keyword(s):  
Fractional Order ◽  
Attitude Control ◽  
Disturbance Rejection ◽  
Control Method ◽  
Hypersonic Vehicle ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

A practical attitude control scheme for hypersonic vehicle based on disturbance observer

2019 ◽  
Vol 233 (12) ◽  
pp. 4523-4540 ◽  
Author(s):  
Minnan Piao ◽  
Zhihong Yang ◽  
Mingwei Sun ◽  
Jian Huang ◽  
Zengqiang Chen
Keyword(s):  
Strong Coupling ◽  
Attitude Control ◽  
Disturbance Rejection ◽  
Angular Rate ◽  
Stability Margin ◽  
Hypersonic Vehicle ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Scheme

This paper proposes a practical three-channel attitude control scheme for hypersonic vehicle based on the linear active disturbance rejection control. The control scheme considers the weak and strong coupling scenarios separately due to the dynamic characteristics. For the weak coupling case, three linear active disturbance rejection controllers are designed for the Euler angles of the three channels, respectively, to deal with the strong uncertainties. The expected stability margin and dynamic performance can be guaranteed through the stability margin tester tuning method. Moreover, the control scheme for the pitch, yaw, and roll angles can be applied to the control of the angle of attack, the sideslip angle and the bank angle directly according to the flight dynamics of the hypersonic vehicle, thus realizing a unified control framework for all the attitude angles. For the strong coupling scenario like the fast reversal maneuver, the inner-loop angular rate feedback is performed first in this paper to enhance the damping characteristics, and then linear active disturbance rejection control is designed for the augmented plant to eliminate the strong coupling effects. Simulation results demonstrate the satisfactory tracking and disturbance rejection ability of the proposed methods.

scholarly journals Quadrotor Attitude Control by Fractional-Order Fuzzy Particle Swarm Optimization-Based Active Disturbance Rejection Control

2021 ◽  
Vol 11 (24) ◽  
pp. 11583
Author(s):  
Qi Zhang ◽  
Yaoxing Wei ◽  
Xiao Li
Keyword(s):  
Particle Swarm Optimization ◽  
Fractional Order ◽  
Attitude Control ◽  
Disturbance Rejection ◽  
Particle Swarm ◽  
Active Disturbance Rejection Control ◽  
Swarm Optimization ◽  
Quadrotor Aircraft ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

In this paper, Active Disturbance Rejection Control (ADRC) is utilized in the attitude control of a quadrotor aircraft to address the problem of attitude destabilization in flight control caused by parameter uncertainties and external disturbances. Considering the difficulty of optimizing the parameter of ADRC, a fractional-order fuzzy particle swarm optimization (FOFPSO) algorithm is proposed to optimize the parameters of ADRC for quadrotor aircraft. Simultaneously, the simulation experiment is designed, which compares with the optimized performance of traditional particle swarm optimization (PSO), fuzzy article swarm optimization (FPSO) and adaptive genetic algorithm-particle swarm optimization (AGA-PSO). In addition, the turbulent wind field model is established to verify the disturbance rejection performance of the controller. Finally, the designed controller is deployed to the actual hardware platform by using the model-based design method. The results show that the controller has a small overshoot and stronger disturbance rejection ability after the parameters are optimized by the proposed algorithm.

Stability control for end effect of mobile manipulator in uneven terrain based on active disturbance rejection control

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Chuang Cheng ◽  
Hui Zhang ◽  
Hui Peng ◽  
Zhiqian Zhou ◽  
Bailiang Chen ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
External Disturbance ◽  
Stability Control ◽  
Mobile Manipulator ◽  
Active Disturbance Rejection Control ◽  
End Effector ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Purpose When the mobile manipulator is traveling on an unconstructed terrain, the external disturbance is generated. The load on the end of the mobile manipulator will be affected strictly by the disturbance. The purpose of this paper is to reject the disturbance and keep the end effector in a stable pose all the time, a control method is proposed for the onboard manipulator. Design/methodology/approach In this paper, the kinematics and dynamics models of the end pose stability control system for the tracked robot are built. Through the guidance of this model information, the control framework based on active disturbance rejection control (ADRC) is designed, which keeps the attitude of the end of the manipulator stable in the pitch, roll and yaw direction. Meanwhile, the control algorithm is operated with cloud computing because the research object, the rescue robot, aims to be lightweight and execute work with remote manipulation. Findings The challenging simulation experiments demonstrate that the methodology can achieve valid stability control performance in the challenging terrain road in terms of robustness and real-time. Originality/value This research facilitates the stable posture control of the end-effector of the mobile manipulator and maintains it in a suitable stable operating environment. The entire system can normally work even in dynamic disturbance scenarios and uncertain nonlinear modeling. Furthermore, an example is given to guide the parameter tuning of ADRC by using model information and estimate the unknown internal modeling uncertainty, which is difficult to be modeled or identified.

Automated steering controller design for vehicle lane keeping combining linear active disturbance rejection control and quantitative feedback theory

2018 ◽  
Vol 232 (7) ◽  
pp. 937-948 ◽  
Author(s):  
Zhengrong Chu ◽  
Christine Wu ◽  
Nariman Sepehri
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Controller Design ◽  
Active Disturbance Rejection Control ◽  
Quantitative Feedback Theory ◽  
Steering Control ◽  
Parameter Uncertainties ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Lane Keeping

In this article, a new automated steering control method is presented for vehicle lane keeping. This method is a combination between the linear active disturbance rejection control and the quantitative feedback theory. The structure of the steering controller is first determined based on the linear active disturbance rejection control, then the controller is tuned in the framework of the quantitative feedback theory to meet the prescribed design specifications on sensitivity and closed-loop stability. The parameter uncertainties of the vehicle system are considered at the tuning stage. The proposed steering controller is simulated and tested on a scale vehicle. Both the simulation and experimental results demonstrate that the scale vehicle controlled by the proposed controller is able to perform the lane keeping. In the experiments, the lateral offset between the scale vehicle and the road centerline is regulated within the acceptable ranges of ±0.03 m during straight lane keeping and ±0.15 m during curved lane keeping. The proposed controller is easy to be implemented and is simple without requiring complex calculations and measurements of vehicle states. Simulations also show that the control method can be implemented on a full-scale vehicle.

Electro-hydraulic position servo system based on sliding mode active disturbance rejection compound control

2021 ◽  
pp. 095440622110282
Author(s):  
Zhang He ◽  
Zhao Jiyun ◽  
Wang Yunfei ◽  
Zhang Zhonghai ◽  
Ding Haigang ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Sliding Mode ◽  
Servo System ◽  
Active Disturbance Rejection Control ◽  
Compound Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Uncertain Disturbances ◽  
Position Servo

This study proposes a compound control method based on sliding mode and active disturbance rejection control to address the difficulty of controlling the cutting head for boom-type roadheader with parameter changes and uncertain disturbances. The fastest discrete tracking differentiator and extended state observer based on the traditional active disturbance rejection control are designed. Additionally, the controller of the sliding mode and active disturbance rejection control is constructed. Theoretical analysis indicates that the proposed controller ensures asymptotic stability, despite the existing uncertain disturbances. Moreover, a system based on AMESim and MATLAB/Simulink Co-simulation model is developed to further verify the performance of proposed algorithm. Compared with traditional active disturbance rejection control, proportional-integral-derivative(PID) and sliding mode control, co-simulation results demonstrate that the sliding mode active disturbance rejection compound control improves the tracking accuracy and robustness of the position servo system.

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