Enhanced disturbance observer-based robust yaw servo control for ROVs with multi-vector propulsion

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Yihui Gong ◽  
Lin Li ◽  
Shengbo Qi ◽  
Changbin Wang ◽  
Dalei Song
Keyword(s):  
Attitude Control ◽  
Disturbance Observer ◽  
External Disturbance ◽  
Proportional Integral Derivative ◽  
Content Type ◽  
Proportional Integral ◽  
Control Scheme ◽  
Yaw Attitude ◽  
Nonlinear Hydrodynamics ◽  
Parameters Perturbation

Purpose A novel proportional integral derivative-extended state disturbance observer-based control (PID-ESDOBC) algorithm is proposed to solve the nonlinear hydrodynamics, parameters perturbation and external disturbance in yaw control of remote operated vehicles (ROVs). The effectiveness of PID-ESDOBC is verified through the experiments and the results indicate that the proposed method can effectively track the desired attitude and attenuate the external disturbance. Design/methodology/approach This study fully investigates the hydrodynamic model of ROVs and proposes a control-oriented hydrodynamic state space model of ROVs in yaw direction. Based on this, this study designs the PID-ESDOBC controller, whose stability is also analyzed through Kharitonov theorem and Mikhailov criterion. The conventional proportional-integral-derivative (PID) and active disturbance rejection control (ADRC) are compared with our method in our experiment. Findings In this paper, the authors address the nonlinear hydrodynamics, parameters perturbation and external disturbance problems of ROVs with multi-vector propulsion by using PID-ESDOBC control scheme. The advantage is that the nonlinearities and external disturbance can be estimated accurately and attenuate promptly without requiring the precise model of ROVs. Compared to PID and ADRC, both in overshoot and settling time, the improvement is 2X on average compared to conventional PID and ADRC in the pool experiment. Research limitations/implications The delays occurred in the control process can be solved in the future work. Practical implications The attitude control is a kernel problem for ROVs. A precise kinematic and dynamic model for ROVs and an advanced control system are the key factors to obtain the better maneuverability in attitude control. The PID-ESDOBC method proposed in this paper can effectively attenuate nonlinearities and external disturbance, which leads to a quick response and good tracking performance to baseline controller. Social implications The PID-ESDOBC algorithm proposed in this paper can be ensure the precise and fast maneuverability in attitude control of ROVs or other underwater equipment operating in the complex underwater environment. In this way, the robot can better perform undersea work and tasks. Originality/value The dynamics of the ROV and the nominal control model are investigated. A novel control scheme PID-ESDOBC is proposed to achieve rapidly yaw attitude tracking and effectively reject the external disturbance. The robustness of the controller is also analyzed which provides parameters tuning guidelines. The effectiveness of the proposed controller is experimental verified with a comparison by conventional PID, ADRC.

scholarly journals A composite controller based on nonlinear H_∞ and nonlinear disturbance observer for attitude stabilization of a flying robot

2021 ◽  
Vol 22 (1) ◽  
pp. 270
Author(s):  
Vahid Razmavar ◽  
Heidar Ali Talebi ◽  
Farzaneh Abdollahi
Keyword(s):  
Attitude Control ◽  
Disturbance Observer ◽  
External Disturbance ◽  
Parametric Uncertainty ◽  
Control Technique ◽  
Robust Controller ◽  
Nonlinear Disturbance Observer ◽  
Control Scheme ◽  
Nonlinear Disturbance ◽  
Flying Robot

<span>In this article a novel composite control technique is introduced. We added a nonlinear disturbance observer to a nonlinear H_∞ control to form this composite controller. The quadrotor kinematics and dynamics is formulated using euler angles and parameters. After that, this nonlinear robust controller is developed for this flying robot attitude control for the outdoor conditions. Because under these conditions the flying robot, experiences both external disturbance and parametric uncertainty. Stability analysis is also presented to show the global asymptotical stability using a Lyapunov function. The simulation results showed that the suggested composite controller had a better performance in comparison with a nonlinear H_∞ control scheme.</span>

Double-boundary interval fault-tolerant control for a multi-vector propulsion ROV with thruster failure

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Liqin Zhou ◽  
Changbin Wang ◽  
Lin Li ◽  
Chengxi Zhang ◽  
Dalei Song ◽  
...  
Keyword(s):  
Fault Tolerant ◽  
Load Capacity ◽  
External Disturbance ◽  
Fault Tolerant Control ◽  
Content Type ◽  
Attitude Stability ◽  
Control Scheme ◽  
Yaw Attitude ◽  
The Stability ◽  
Real Time Information

Purpose A novel fault-tolerant control (FTC) method is proposed to assure the stability of the remote-operated vehicle (ROV) by considering the thruster failure-induced model perturbations. The stability of the ROV with failures is guaranteed and optimized with the determined model perturbation set. The effectiveness of the double-boundary interval fault-tolerant control (DBIFTC) is verified through the experiments and proves that the stability is well maintained, which demonstrates a decent performance. Design/methodology/approach This paper studies a control problem for a multi-vector propulsion ROV by using the DBIFTC method in the presence of thruster failure and external disturbances. The ROV kinematics and dynamical models with multi-vector-arranged thruster failure are investigated and formulated for control system design. Findings In this paper, the authors address the FTC problem of ROV with multi-vector thrusters and propose a DBIFTC scheme. The advantage is that as the kinematic system model of ROV is preanalyzed and identified, the DBIFTC becomes more effective. The mathematical stability of the system under the proposed control scheme can be guaranteed. Research limitations/implications The ROV model used in this paper is based on the system identification of experimental data. Although this model has real experimental value and physical significance, the accuracy can be further improved. Practical implications Cable-controlled underwater ROVs are widely used in military missions and scientific research because of their flexibility, sufficient load capacity and real-time information transmission characteristics. The DBIFTC method proposed in this paper can effectively reduce the problem of underwater vehicle under propeller failure or external disturbance and save unnecessary cost. Social implications The DBIFTC method proposed in this paper can ensure the attitude stability of ROV or other underwater equipment operating in the event of propeller failure or external disturbance. In this way, the robot can better perform undersea work and tasks. Originality/value The kinematics and failure mechanisms of the ROV with multi-vector propulsion system are investigated and established. An optimized DBIFTC scheme is investigated to stabilize ROV yaw attitude under the thruster failure condition. The feasibility and effectiveness of the DBIFTC is experimentally validated.

PIDNN control for Vernier-gimballing magnetically suspended flywheel under nonlinear change of stiffness and disturbance

2020 ◽  
pp. 095965182097757
Author(s):  
Jiqiang Tang ◽  
Mengyue Ning ◽  
Xu Cui ◽  
Tongkun Wei ◽  
Xiaofeng Zhao
Keyword(s):  
Neural Network ◽  
Attitude Control ◽  
Magnetic Force ◽  
Magnetic Bearing ◽  
Network Control ◽  
Gradient Descent Method ◽  
Neural Network Control ◽  
Proportional Integral Derivative ◽  
Tracking Accuracy ◽  
Proportional Integral

Vernier-gimballing magnetically suspended flywheel is often used for attitude control and interference suppression of spacecrafts. Due to the special structure of the conical magnetic bearing, the radial component generated by the axial magnetic force and the change of the magnetic air gap will cause the nonlinearity of stiffness and disturbance. That will lead to not only poor stability of the suspension control system but also unsatisfactory tracking accuracy of the rotor position. To solve the nonlinear problem of the system, this article proposes a proportional–integral–derivative neural network control scheme. First, the rotor model considering the nonlinear variation of disturbance and stiffness parameters is established. Then, the weight of neural network is adjusted by the gradient descent method online to ensure the accurate output of magnetic force. Finally, the convergence analysis is carried out based on the Lyapunov stability theory. Compared with the general proportional–integral–derivative control and the radial basis function neural network control, the simulation results demonstrate that the proposed method has the highest tracking accuracy and excellent performance in improving stability. The experimental results prove the correctness of the theoretical analysis and the validity of the proposed method.

A novel fractional order PID plus derivative (PIλDµDµ2) controller for AVR system using equilibrium optimizer

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Abdulsamed Tabak
Keyword(s):  
Fractional Order ◽  
Transient Response ◽  
Superior Performance ◽  
Control Performance ◽  
Proportional Integral Derivative ◽  
Content Type ◽  
Proportional Integral ◽  
Avr System ◽  
Optimization Parameters ◽  
Fractional Order Pid

Purpose The purpose of this paper is to improve transient response and dynamic performance of automatic voltage regulator (AVR). Design/methodology/approach This paper proposes a novel fractional order proportional–integral–derivative plus derivative (PIλDµDµ2) controller called FOPIDD for AVR system. The FOPIDD controller has seven optimization parameters and the equilibrium optimizer algorithm is used for tuning of controller parameters. The utilized objective function is widely preferred in AVR systems and consists of transient response characteristics. Findings In this study, results of AVR system controlled by FOPIDD is compared with results of proportional–integral–derivative (PID), proportional–integral–derivative acceleration, PID plus second order derivative and fractional order PID controllers. FOPIDD outperforms compared controllers in terms of transient response criteria such as settling time, rise time and overshoot. Then, the frequency domain analysis is performed for the AVR system with FOPIDD controller, and the results are found satisfactory. In addition, robustness test is realized for evaluating performance of FOPIDD controller in perturbed system parameters. In robustness test, FOPIDD controller shows superior control performance. Originality/value The FOPIDD controller is introduced for the first time to improve the control performance of the AVR system. The proposed FOPIDD controller has shown superior performance on AVR systems because of having seven optimization parameters and being fractional order based.

scholarly journals Adaptive Neural Output Feedback Control for Uncertain Robot Manipulators with Input Saturation

Complexity ◽  
2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Rong Mei ◽  
ChengJiang Yu
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Disturbance Observer ◽  
Robot Manipulators ◽  
External Disturbance ◽  
Input Saturation ◽  
Output Feedback Control ◽  
System State ◽  
Control Scheme ◽  
Uncertain Robot

This paper presents an adaptive neural output feedback control scheme for uncertain robot manipulators with input saturation using the radial basis function neural network (RBFNN) and disturbance observer. First, the RBFNN is used to approximate the system uncertainty, and the unknown approximation error of the RBFNN and the time-varying unknown external disturbance of robot manipulators are integrated as a compounded disturbance. Then, the state observer and the disturbance observer are proposed to estimate the unmeasured system state and the unknown compounded disturbance based on RBFNN. At the same time, the adaptation technique is employed to tackle the control input saturation problem. Utilizing the estimate outputs of the RBFNN, the state observer, and the disturbance observer, the adaptive neural output feedback control scheme is developed for robot manipulators using the backstepping technique. The convergence of all closed-loop signals is rigorously proved via Lyapunov analysis and the asymptotically convergent tracking error is obtained under the integrated effect of the system uncertainty, the unmeasured system state, the unknown external disturbance, and the input saturation. Finally, numerical simulation results are presented to illustrate the effectiveness of the proposed adaptive neural output feedback control scheme for uncertain robot manipulators.

Robust Constrained Trajectory Tracking Control for Quadrotor Unmanned Aerial Vehicle Based on Disturbance Observers

2020 ◽  
Vol 142 (11) ◽  
Author(s):  
Bing Zhu ◽  
Mou Chen ◽  
Tao Li
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Position Control ◽  
External Disturbance ◽  
Input Saturation ◽  
Dynamic Surface Control ◽  
Trajectory Tracking Control ◽  
Dynamic Surface ◽  
Control Scheme ◽  
Aerial Vehicle

Abstract In this paper, a trajectory tracking control scheme for a quadrotor unmanned aerial vehicle (UAV) under unknown external disturbance and input saturation is developed. This scheme includes the position control system and attitude control one, in which the attitude control system is further divided into the fast loop for angular velocity and the slow one for attitude angle based on time-scale separation principle. Then, an input constrained dynamic surface control scheme combined with a disturbance observer is designed to achieve the total thrust, desired roll, and pitch angle in the position control system. For the coupled attitude system, a dynamic surface control scheme together with generalized model predictive controller (GMPC) is proposed to tackle both the fast loop system and the slow one. Since the unknown external disturbance and input saturation are considered, a sliding mode disturbance observer (SMDO) is further designed to achieve the strong robustness. Finally, some simulation results are presented to show robustness and effectiveness of our proposed tracking scheme.

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