A least mean square based active disturbance rejection control for an inertially stabilized platform

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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Improved Active Disturbance Rejection Control of optoelectronic stabilized platform Based on Reduced-order Extended State Observer

10.1109/itnec52019.2021.9587065 ◽

2021 ◽

Author(s):

Peng Gao ◽

Xiuqin Su ◽

Weifeng Wang ◽

Wenbo Zhang

Keyword(s):

Disturbance Rejection ◽

State Observer ◽

Extended State Observer ◽

Active Disturbance Rejection Control ◽

Extended State ◽

Reduced Order ◽

Active Disturbance Rejection ◽

Disturbance Rejection Control ◽

Stabilized Platform

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Active disturbance rejection control for optoelectronic stabilized platform based on adaptive fuzzy sliding mode control

ISA Transactions ◽

10.1016/j.isatra.2021.06.020 ◽

2021 ◽

Author(s):

Shuaishuai Sui ◽

Tong Zhao

Keyword(s):

Sliding Mode Control ◽

Disturbance Rejection ◽

Sliding Mode ◽

Active Disturbance Rejection Control ◽

Fuzzy Sliding Mode Control ◽

Active Disturbance Rejection ◽

Disturbance Rejection Control ◽

Adaptive Fuzzy Sliding Mode ◽

Fuzzy Sliding Mode ◽

Stabilized Platform

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Output Regulation for a Class of MIMO Uncertain Stochastic Nonlinear Systems by Active Disturbance Rejection Control Approach

Mathematical Problems in Engineering ◽

10.1155/2019/5674212 ◽

2019 ◽

Vol 2019 ◽

pp. 1-12 ◽

Cited By ~ 1

Author(s):

Chunwan Lv ◽

Guoshun Huang ◽

Zhengyong Ouyang ◽

Jian Chen ◽

Lingxin Bao

Keyword(s):

Nonlinear Systems ◽

Disturbance Rejection ◽

Output Regulation ◽

Stochastic Nonlinear Systems ◽

Active Disturbance Rejection Control ◽

Mean Square ◽

Mean Square Stability ◽

Active Disturbance Rejection ◽

Disturbance Rejection Control ◽

Reference Signals

In this paper, the active disturbance rejection control (ADRC) approach is applied to a class of multi-input multioutput (MIMO) uncertain stochastic nonlinear systems. An extended state observer (ESO) is first designed for estimation of both unmeasured states and stochastic total disturbance of each subsystem which represents the total effects of internal unmodeled stochastic dynamics and external stochastic disturbance with unknown statistical property. The ADRC controller based on the states of ESO is further designed to achieve the closed-loop system’s output regulation performance including practical mean square reference signals tracking, disturbance attenuation, and practical mean square stability when the reference signals are zero avoiding solving any partial differential equations in the conventional output regulation theory. Some numerical simulations are presented to demonstrate the effectiveness of the proposed ADRC approach.

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