Robust error-based active disturbance rejection control of a quadrotor

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Taki Eddine Lechekhab ◽  
Stojadin Manojlovic ◽  
Momir Stankovic ◽  
Rafal Madonski ◽  
Slobodan Simic
Keyword(s):  
Real Time ◽  
Time Domain ◽  
Disturbance Rejection ◽  
Active Disturbance Rejection Control ◽  
Content Type ◽  
Advantages And Disadvantages ◽  
Quadrotor Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Highly Nonlinear

Purpose The control of a quadrotor unmanned aerial vehicle (UAV) is a challenging problem because of its highly nonlinear dynamics, under-actuated nature and strong cross-couplings. To solve this problem, this paper aims to propose a robust control strategy, based on a concept of active disturbance rejection control (ADRC). Design/methodology/approach The altitude/attitude dynamics of a quadrotor is reformulated into the ADRC framework. Three distinct variations of the error-based ADRC algorithms, with different structures of generalized extended state observers (GESO), are derived for the altitude/attitude trajectory-following task. The convergence of the observation part is proved based on the singular perturbation theory. Through a frequency analysis and a quantitative comparison in a simulated environment, each design is shown to have certain advantages and disadvantages in terms of tracking accuracy and robustness. The digital prototypes of the proposed controllers for quadrotor altitude and attitude control channels are designed and validated through real-time hardware-in-the-loop (HIL) co-simulation, with field-programmable gate array (FPGA) hardware. Findings The effects of unavailable reference time-derivatives can be estimated by the ESO and rejected through the outer control loop. The higher order ESOs demonstrate better performances, but with reductions of stability margins. Time-domain simulation analysis reveals the benefits of the proposed control structure related to classical control approach. Real-time FPGA-based HIL co-simulations validated the performances of the considered digital controllers in typical quadrotor flight scenarios. Practical implications The conducted study forms a set of practical guidelines for end-users for selecting specific ADRC design for quadrotor control depending on the given control objective and work conditions. Furthermore, the paper presents detailed procedure for the design, simulation and validation of the embedded FPGA-based quadrotor control unit. Originality/value In light of the currently available literature on error-based ADRC, a comprehensive approach is applied here, which includes the design of error-based ADRC with different GESOs, its frequency-domain and time-domain analyses using different simulation of UAV flight scenarios, as well as its FPGA-based implementation and testing on the real hardware.

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.

Output tracking and feedback stabilization for 6-DoF UAV using an enhanced active disturbance rejection control

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Aws Abdulsalam Najm ◽  
Ibraheem Kasim Ibraheem ◽  
Amjad J. Humaidi ◽  
Ahmad Taher Azar
Keyword(s):  
Disturbance Rejection ◽  
Feedback Stabilization ◽  
Active Disturbance Rejection Control ◽  
Parameter Uncertainties ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Exogenous Disturbances ◽  
System Uncertainties ◽  
Quadrotor System

PurposeThe hybrid control system of the nonlinear PID (NLPID) controller and improved active disturbance rejection control (IADRC) are proposed for stabilization purposes for a 6-degree freedom (DoF) quadrotor system with the existence of exogenous disturbances and system uncertainties.Design/methodology/approachIADRC units are designed for the altitude and attitude systems, while NLPID controllers are designed for the x−y position system on the quadrotor nonlinear model. The proposed controlling scheme is implemented using MATLAB/Simulink environment and is compared with the traditional PID controller and NLPID controller.FindingsDifferent tests have been done, such as step reference tracking, hovering mode, trajectory tracking, exogenous disturbances and system uncertainties. The simulation results showed the demonstrated performance and stability gained by using the proposed scheme as compared with the other two controllers, even when the system was exposed to different disturbances and uncertainties.Originality/valueThe study proposes an NLPID-IADRC scheme to stabilize the motion of the quadrotor system while tracking a specified trajectory in the presence of exogenous disturbances and parameter uncertainties. The proposed multi-objective Output Performance Index (OPI) was used to obtain the optimum integrated time of the absolute error for each subsystem, UAV quadrotor system energy consumption and for minimizing the chattering phenomenon by adding the integrated time absolute of the control signals.

Adaptive output-feedback robust active disturbance rejection control for uncertain quadrotor with unknown disturbances

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Nigar Ahmed ◽  
Syed Awais Ali Shah
Keyword(s):  
Output Feedback ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
The State ◽  
Active Disturbance Rejection Control ◽  
State Variables ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Attitude Model

PurposeIn this research paper, an adaptive output-feedback robust active disturbance rejection control (RADRC) is designed for the multiple input multiple output (MIMO) quadrotor attitude model subject to unwanted uncertainties and disturbances (UUDs).Design/methodology/approachIn order to achieve the desired control objectives in the presence of UUDs, the low pass filter (LPF) and extended high gain observer (EHGO) methods are used for the estimation of matched and mismatched UUDs, respectively. Furthermore, for solving the chattering incurred in the standard sliding mode control (SMC), a multilayer sliding mode surface is constructed. For formulating the adaptive output-feedback RADRC algorithm, the EHGO, LPF and SMC schemes are combined using the separation principle.FindingsThe findings of this research work include the design of an adaptive output-feedback RADRC with the ability to negate the UUDs as well as estimate the unknown states of the quadrotor attitude model. In addition, the chattering problem is addressed by designing a modified SMC scheme based on the multilayer sliding mode surface obtained by utilizing the estimated state variables. This sliding mode surface is also used to obtain the adaptive criteria for the switching design gain parameters involved in the SMC. Moreover, the requirement of high design gain parameters in the EHGO is solved by combining it with the LPF.Originality/valueDesigning the flight control techniques while assuming that the state variables are available is a common practice. In addition, to obtain robustness, the SMC technique is widely used. However, in practice, the state variables might not be available due to unknown parameters and uncertainties, as well as the chattering due to SMC reduces the performances of the actuators. Hence, in this paper, an adaptive output-feedback RADRC technique is designed to solve the problems of UUDs and chattering.

Active disturbance rejection-based industrial cascade control plant with cloud monitoring

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Tushar Vikas Bhaskarwar ◽  
Sumit Suhas Aole ◽  
Rajan Hari Chile
Keyword(s):  
Disturbance Rejection ◽  
Control Plant ◽  
Settling Time ◽  
Cascade Process ◽  
Active Disturbance Rejection Control ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Internet Of Things Technology ◽  
Level Process

Purpose The purpose of this paper is to provide benefits for companies or organizations, which deal with fewer input-outputs and wanted to control their industrial processes remotely with a robust control strategy. Design/methodology/approach In this paper, an active disturbance rejection control (ADRC) strategy is used for the two tank level process plant and it is remotely monitored with the industrial internet of things technology. The disturbances in a primary and secondary loop of the cascade process, which are affecting the overall settling time (ts) of the process, are eliminated by using the proposed, ADRC-ADRC structure in the cascade loop. The stability of the proposed controller is presented with Hurwitz’s stability criteria for selecting gains of observers. The results of the proposed controller are compared with the existing active disturbance rejection control-proportional (ADRC-P) and proportional-integral derivative-proportional (PID-P)-based controller by experimental validation. Findings It is observed that the settling time (ts) in the case of the proposed controller is improved by 60% and 55% in comparison to PID-P and ADRC-P, respectively. The level process is interfaced with an industrial controller and real-time data acquired in matrix laboratory (MATLAB), which acted as a remote monitoring platform for the cascade process. Originality/value The proposed controller is designed to provide robustness against disturbance and parameter uncertainty. This paper provides an alternate way for researchers who are using MATLAB and ThingSpeak cloud server as a tool for the implementation.

A Finger-Motion Adaptive Algorithm for Braille Reading: Application of Active Disturbance Rejection Control

2015 ◽  
Author(s):  
Melda Ulusoy ◽  
Rifat Sipahi
Keyword(s):  
Real Time ◽  
Disturbance Rejection ◽  
Active Disturbance Rejection Control ◽  
Motion Adaptation ◽  
Reading Experience ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Internal Disturbance ◽  
Finger Touch ◽  
Finger Motion

Currently existing refreshable Braille displays suffer from high costs, which prevent their affordability. A rotating wheel with refreshable Braille and utilizing finger-motion adaptation can help create realistic Braille reading experience, while significantly reducing the high costs by offsetting the number of actuators needed to display Braille. In this paper, we design a real-time controller to adjust the speed of the rotating wheel system based on the finger motions of the user. Due to unknown dynamics of the rotating wheel system, active disturbance rejection control (ADRC) has been implemented to estimate the total disturbance acting on the system. This estimate is then used to eliminate the internal disturbance of the system so that disturbances associated with finger touch on the wheel can be predicted. Real-time experimental results show that even without the knowledge of the system model, it is possible to adapt the speed of the rotating wheel based on these finger touch predictions.

Active disturbance rejection control strategy for airborne radar stabilization platform based on cascade extended state observer

2020 ◽  
Vol 40 (4) ◽  
pp. 613-624
Author(s):  
Dong Mei ◽  
Zhu-Qing Yu
Keyword(s):  
Control Strategy ◽  
Disturbance Rejection ◽  
Output Signal ◽  
Extended State Observer ◽  
Airborne Radar ◽  
Active Disturbance Rejection Control ◽  
Extended State ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Purpose This paper aims to improve the anti-interference ability of the airborne radar stabilization platform, especially the ability to suppress continuous disturbance under complex air conditions to ensure the clarity and stability of airborne radar imaging. Design/methodology/approach This paper proposes a new active disturbance rejection control (ADRC) strategy based on the cascade extended state observer (ESO) for airborne radar stabilization platform, which adopts two first-order ESOs to estimate the angular velocity value and the angular position value of the stabilized platform. Then makes the error signal which subtracts the estimated value of ESO from the output signal of the tracking-differentiator as the input signal of the nonlinear state error feedback (NLSEF), and according to the output signal of the NLSEF and the value which dynamically compensated the total disturbances estimated by the two ESO to produce the final control signal. Findings The simulation results show that, compared with the classical ADRC, the ADRC based on the cascade ESO not only estimates the unknown disturbance more accurately but also improves the delay of disturbance observation effectively due to the increase of the order of the observer. In addition, compared with the classical PID control and the classical ADRC, it has made great progress in response performance and anti-interference ability, especially in the complex air conditions. Originality/value The originality of the paper is the adoption of a new ADRC control strategy based on the cascade ESO to ameliorate the anti-interference ability of the airborne radar stabilization platform, especially the ability to suppress continuous interference under complex air conditions.

Active disturbance rejection control for small unmanned helicopters via Levy flight-based pigeon-inspired optimization

2017 ◽  
Vol 89 (6) ◽  
pp. 946-952 ◽  
Author(s):  
Daifeng Zhang ◽  
Haibin Duan ◽  
Yijun Yang
Keyword(s):  
Swarm Intelligence ◽  
Attitude Control ◽  
Disturbance Rejection ◽  
Optimization Problems ◽  
Active Disturbance Rejection Control ◽  
Lévy Flight ◽  
Levy Flight ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Purpose The purpose of this paper is to propose a control approach for small unmanned helicopters, and a novel swarm intelligence algorithm is used to optimize the parameters of the proposed controller. Design/methodology/approach Small unmanned helicopters have many advantages over other unmanned aerial vehicles. However, the manual operation process is difficult because the model is always instable and coupling. In this paper, a novel optimized active disturbance rejection control (ADRC) approach is presented for small unmanned helicopters. First, a linear attitude model is built in hovering condition according to small perturbation linearization. To realize decoupling, this model is divided into two parts, and each part is equipped with an ADRC controller. Finally, a novel Levy flight-based pigeon-inspired optimization (LFPIO) algorithm is developed to find the optimal ADRC parameters and enhance the performance of controller. Findings This paper applies ADRC method to the attitude control of small unmanned helicopters so that it can be implemented in practical flight under complex environments. Besides, a novel LFPIO algorithm is proposed to optimize the parameters of ADRC and is proved to be more efficient than other homogenous methods. Research limitations/implications The model of proposed controller is built in the hovering action, whereas it cannot be used in other flight modes. Practical implications The optimized ADRC method can be implemented in actual flight, and the proposed LFPIO algorithm can be developed in other practical optimization problems. Originality/value ADRC method can enhance the response and robustness of unmanned helicopters which make it valuable in actual environments. The proposed LFPIO algorithm is proved to be an effective swarm intelligence optimizer, and it is convenient and valuable to apply it in other optimized systems.

scholarly journals Based on Robust Sliding Mode and Linear Active Disturbance Rejection Control for Attitude of Quadrotor Load UAV

2021 ◽  
Author(s):  
Zhaoji Wang ◽  
Tong Zhao
Keyword(s):  
Adaptive Control ◽  
Real Time ◽  
Disturbance Rejection ◽  
Control Method ◽  
Sliding Mode ◽  
Reference Signal ◽  
Active Disturbance Rejection Control ◽  
Mass Variation ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Abstract In this paper, a mass adaptive control method combining robust sliding mode control (SMC) and linear active disturbance rejection control (LADRC) is designed for the quadrotor load unmanned aerial vehicle (UAV) with mass variation. The scheme combines the advantages of SMC and LADRC. SMC can enhance the robustness of the controller, improve the anti-disturbance performance and overcome the problem of low control precision caused by bandwidth limitation of LADRC. The linear extended state observer (LESO) can estimate the external and internal disturbances of the system in real time, and then compensate the total disturbance through the PD controller. In order to simplify parameter setting, adaptive control is introduced in LADRC to adjust controller parameters in real time. In addition, adaptive law is also used to control the mass variation of the quadrotor. Then the stability of the whole system is verified by Lyapunov stability theory. Finally, the comparison with LADRC shows the superiority of the designed scheme, which can track the reference signal stably and effectively.

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