scholarly journals Cascaded control for balancing an inverted pendulum on a flying quadrotor

Robotica ◽  
2016 ◽  
Vol 35 (6) ◽  
pp. 1263-1279 ◽  
Author(s):  
Chao Zhang ◽  
Huosheng Hu ◽  
Dongbing Gu ◽  
Jing Wang
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Inverted Pendulum ◽  
Active Disturbance Rejection Control ◽  
Control Performance ◽  
Linear Quadratic ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Strong Robustness

SUMMARYThis paper is focused on the flying inverted pendulum problem, i.e., how to balance a pendulum on a flying quadrotor. After analyzing the system dynamics, a three loop cascade control strategy is proposed based on active disturbance rejection control (ADRC). Both the pendulum balancing and the trajectory tracking of the flying quadrotor are implemented by using the proposed control strategy. A simulation platform of 3D mechanical systems is deployed to verify the control performance and robustness of the proposed strategy, including a comparison with a Linear Quadratic Controller (LQR). Finally, a real quadrotor is flying with a pendulum to demonstrate the proposed method that can keep the system at equilibrium and show strong robustness against disturbances.

High-precision trajectory tracking design and simulation for six degree of freedom robot based on improved active disturbance rejection control

2018 ◽  
Vol 233 (10) ◽  
pp. 3659-3669 ◽  
Author(s):  
Fengjun Chen ◽  
Jinqi Liao ◽  
Jun Xiong ◽  
Shaohui Yin ◽  
Shuai Huang ◽  
...  
Keyword(s):  
High Precision ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Degree Of Freedom ◽  
Experimental Simulation ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

High-precision trajectory tracking control is an important factor in the performance of industrial robots. In this study, a high-precision trajectory tracking strategy was proposed for controlling a degree of freedom serial robot on the basis of improved active disturbance rejection control. An independent control strategy of a single joint was adopted, and the corresponding decoupling control law was designed. An attitude trajectory-planning algorithm based on the circular-blending quaternion curve was improved. The position and attitude trajectories were transformed into the joint trajectory by using a kinematics equation and inverse velocity Jacobian matrix. The above-mentioned transformation link was used as a preprocessing link of the active disturbance rejection control, which is used for replacing the tracking differentiator of a typical active disturbance rejection control to eliminate the effect of the tracking delay. An experimental simulation was conducted by combining MATLAB and ADAMS. Simulation results show that the proposed control strategy can perform the tracking control of a task-space trajectory. The tracking precision of position and attitude trajectories were 0.01 mm and 0.01 s, respectively.

scholarly journals Superheated Steam Temperature Control Based on a Hybrid Active Disturbance Rejection Control

Energies ◽  
2020 ◽  
Vol 13 (7) ◽  
pp. 1757 ◽  
Author(s):  
Gengjin Shi ◽  
Zhenlong Wu ◽  
Jian Guo ◽  
Donghai Li ◽  
Yanjun Ding
Keyword(s):  
Control Strategy ◽  
Disturbance Rejection ◽  
Superheated Steam ◽  
Active Disturbance Rejection Control ◽  
Control Performance ◽  
Steam Temperature ◽  
Loop Control ◽  
Superheated Steam Temperature ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Superheated steam temperature (SST) is a significant index for a coal-fired power plant. Its control is becoming more and more challenging for the reason that the control requirements are stricter and the load command changes extensively and frequently. To deal with the aforementioned challenges, previously the cascade control strategy was usually applied to the control of SST. However, its structure and tuning procedure are complex. To solve this problem, this paper proposes a single-loop control strategy for SST based on a hybrid active disturbance rejection control (ADRC). The stability and ability to reject the secondary disturbance are analyzed theoretically in order to perfect the theory of the hybrid ADRC. Then a tuning procedure is summarized for the hybrid ADRC by analyzing the influences of all parameters on control performance. Using the proposed tuning method, a simulation is carried out illustrating that the hybrid ADRC is able to improve the dynamic performance of SST with good robustness. Eventually, the hybrid ADRC is applied to the SST system of a power plant simulator. Experimental results indicate that the single-loop control strategy based on the hybrid ADRC has better control performance and simpler structure than cascade control strategies. The successful application of the proposed hybrid ADRC shows its promising prospect of field tests in future power industry with the increasing demand on integrating more renewables into the grid.

scholarly journals A Control Method for IPMSM Based on Active Disturbance Rejection Control and Model Predictive Control

Mathematics ◽  
2021 ◽  
Vol 9 (7) ◽  
pp. 760
Author(s):  
Fang Liu ◽  
Haotian Li ◽  
Ling Liu ◽  
Runmin Zou ◽  
Kangzhi Liu
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Duty Cycle ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Torque Ripple ◽  
Current Control ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

In this paper, the speed tracking problem of the interior permanent magnet synchronous motor (IPMSM) of an electric vehicle is studied. A cascade speed control strategy based on active disturbance rejection control (ADRC) and a current control strategy based on improved duty cycle finite control set model predictive control (FCSMPC) are proposed, both of which can reduce torque ripple and current ripple as well as the computational burden. First of all, in the linearization process, some nonlinear terms are added into the control signal for voltage compensation, which can reduce the order of the prediction model. Then, the dq-axis currents are selected by maximum torque per ampere (MTPA). Six virtual vectors are employed to FCSMPC, and a novel way to calculate the duty cycle is adopted. Finally, the simulation results show the validity and superiority of the proposed method.

Non-linear active disturbance rejection control for upper limb rehabilitation exoskeleton

2020 ◽  
pp. 095965182095457
Author(s):  
Sumit Aole ◽  
Irraivan Elamvazuthi ◽  
Laxman Waghmare ◽  
Balasaheb Patre ◽  
Fabrice Meriaudeau
Keyword(s):  
Upper Limb ◽  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Active Disturbance Rejection Control ◽  
Upper Limb Rehabilitation ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Flexion Extension ◽  
Non Linear ◽  
Limb Rehabilitation

Trajectory tracking in upper limb rehabilitation exercises is utilized for repeatability of joint movement to improve the patient’s recovery in the early stages of rehabilitation. In this article, non-linear active disturbance rejection control as a combination of non-linear extended-state observer and non-linear state error feedback is used for the sinusoidal trajectory tracking control of the two-link model of an upper limb rehabilitation exoskeleton. The two links represent movements like flexion/extension for both the shoulder joint and the elbow joint in the sagittal plane. The Euler–Lagrange method was employed to acquire a dynamic model of an upper limb rehabilitation exoskeleton. To examine the efficacy and robustness of the proposed method, four disturbances cases in simulation studies with 20% parameter variation were applied. It was found that the non-linear active disturbance rejection control is robust against disturbances and achieves better tracking as compared to proportional–integral–derivative and existing conventional active disturbance rejection control method.

Decoupling control of high-purity heat integrated distillation column process via active disturbance rejection control and nonlinear wave theory

2020 ◽  
Vol 42 (12) ◽  
pp. 2221-2233 ◽  
Author(s):  
Yun Cheng ◽  
Zengqiang Chen ◽  
Mingwei Sun ◽  
Qinglin Sun
Keyword(s):  
Nonlinear Wave ◽  
Control Strategy ◽  
High Purity ◽  
Disturbance Rejection ◽  
Distillation Column ◽  
Decoupling Control ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Scheme

Although the heat integrated distillation is an energy-efficient and environment-friendly separation technology, it has not been commercialized. One of the reasons is that the nonlinear dynamics and the interactions between various control loops have limited the performance of the traditional control strategy. To achieve a high-purity product concentration, a dynamic decoupling control strategy based on active disturbance rejection control (ADRC) is proposed. The effects of interactions, uncertainties and external disturbances can be estimated and rejected by using extended state observer. Considering the constraints on manipulated variables, an optimized ADRC is designed for the first-order system. Moreover, a concentration observer based on a nonlinear wave model is formulated to reduce the number of sensors. In the simulation research, the related internal model control (IMC), multi-loop ADRC and model predictive control (MPC) are compared with the proposed control scheme. The simulation results demonstrate the advantages of the proposed control scheme on tight control, decoupling performance and disturbance rejection for the high-purity heat integrated distillation column.

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