Horizontal plane motion control of AUV based on active disturbance rejection controller

In order to solve the problem of obstacle avoidance of ship in restricted waters, a type of path planning method for obstacle avoidance based on sigmoid function was designed. Firstly, with the concept of path planning, sigmoid function was used to construct the trajectory of ship movement for obstacle avoidance on the basis of analyzing the process of ship obstacle avoidance and the geometric features of sigmoid function. Then, the route tracking in real time was achieved by ship motion control system based on active disturbance rejection control. The simulation shows that ship can ensure avoid obstacle and that the route built based on sigmoid function in confined waters is effective.

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A novel active disturbance rejection controller for an electromagnetic valve actuator

MATEC Web of Conferences ◽

10.1051/matecconf/201820202010 ◽

2018 ◽

Vol 202 ◽

pp. 02010

Author(s):

Jiayu Lu ◽

Siqin Chang

Keyword(s):

Motion Control ◽

Trajectory Planning ◽

Disturbance Rejection ◽

Dynamic Performance ◽

Engine Performance ◽

Valve Lift ◽

Electromagnetic Valve ◽

Active Disturbance Rejection ◽

Variable Valve ◽

The Impact

In order to achieve fully variable and precise motion control of the electromagnetic valve actuator, enhance the engine performance, a novel active disturbance rejection controller for an electromagnetic valve actuator based on trajectory planning and acceleration feedforward is proposed. A fourth-order trajectory planning is used to achieve fully variable valve motion control, including variable valve lift and timing. It can also reduce the impact and vibration of EMVA system. Active disturbance rejection controller is used to estimate the variant dynamic and external disturbances of the system. The acceleration feedforward is compensated for the system to improve the tracking and steady state accuracy. Comparative simulations results show the proposed controller can improve the dynamic performance and the robustness of the system, and enhance the control precision.

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Motion control of humanoid robots using sliding mode observer-based active disturbance rejection control

2017 IEEE 3rd Colombian Conference on Automatic Control (CCAC) ◽

10.1109/ccac.2017.8276383 ◽

2017 ◽

Cited By ~ 2

Author(s):

Santos M. Orozco-Soto ◽

Juan M. Ibarra-Zannatha

Keyword(s):

Motion Control ◽

Disturbance Rejection ◽

Sliding Mode ◽

Humanoid Robots ◽

Sliding Mode Observer ◽

Active Disturbance Rejection Control ◽

Active Disturbance Rejection ◽

Disturbance Rejection Control

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Fractional-Order Active Disturbance Rejection Controller for Motion Control of a Novel 6-DOF Parallel Robot

Mathematical Problems in Engineering ◽

10.1155/2020/3657848 ◽

2020 ◽

Vol 2020 ◽

pp. 1-7

Author(s):

Xinxin Shi ◽

Jiacai Huang ◽

Fangzheng Gao

Keyword(s):

Motion Control ◽

Fractional Order ◽

Control Strategy ◽

Disturbance Rejection ◽

Parallel Robot ◽

Degree Of Freedom ◽

Experimental Results ◽

The Novel ◽

Linear Motors ◽

Active Disturbance Rejection

A novel 6-degree-of-freedom (6-DOF) parallel robot driven by six novel linear motors is designed and controlled in this paper. Detailed structures of linear motors are illustrated. A control strategy based on kinematics of the 6-DOF parallel robot is used, and six linear motors are controlled to track their own desired trajectories under a designed fractional-order active disturbance rejection controller (FOADRC). Compared with the normal ADRC, two desired trajectories and three different working situations of a linear motor are simulated to show good performances of the FOADRC. Experimental results show that six linear motors can track their own desired trajectories accurately under payloads and disturbances, and the novel 6-DOF parallel robot can be controlled well.

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