Adaptive robust control of AC motors with fractional-order disturbance observer

2014 ◽  
Author(s):  
Zhenle Dong ◽  
Dawei Ma ◽  
Xiaofeng Wang ◽  
Jianyong Yao
Keyword(s):  
Robust Control ◽  
Fractional Order ◽  
Disturbance Observer ◽  
Adaptive Robust Control ◽  
Ac Motors

A computationally efficient adaptive robust control scheme for a quad-rotor transporting cable-suspended payloads

2021 ◽  
pp. 095441002110136
Author(s):  
Nasim Ullah ◽  
Irfan Sami ◽  
Wang Shaoping ◽  
Hamid Mukhtar ◽  
Xingjian Wang ◽  
...  
Keyword(s):  
Robust Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Adaptive Robust Control ◽  
Computationally Efficient ◽  
Control Scheme ◽  
Control Schemes ◽  
Adaptive Laws ◽  
Unknown Disturbances ◽  
The Stability

This article proposes a computationally efficient adaptive robust control scheme for a quad-rotor with cable-suspended payloads. Motion of payload introduces unknown disturbances that affect the performance of the quad-rotor controlled with conventional schemes, thus novel adaptive robust controllers with both integer- and fractional-order dynamics are proposed for the trajectory tracking of quad-rotor with cable-suspended payload. The disturbances acting on quad-rotor due to the payload motion are estimated by utilizing adaptive laws derived from integer- and fractional-order Lyapunov functions. The stability of the proposed control systems is guaranteed using integer- and fractional-order Lyapunov theorems. Overall, three variants of the control schemes, namely adaptive fractional-order sliding mode (AFSMC), adaptive sliding mode (ASMC), and classical Sliding mode controllers (SMC)s) are tested using processor in the loop experiments, and based on the two performance indicators, namely robustness and computational resource utilization, the best control scheme is evaluated. From the results presented, it is verified that ASMC scheme exhibits comparable robustness as of SMC and AFSMC, while it utilizes less sources as compared to AFSMC.

Adaptive robust control of fractional-order systems with matched and mismatched disturbances

2019 ◽  
Vol 162 ◽  
pp. 85-96 ◽  
Author(s):  
Aldo Jonathan Muñoz-Vázquez ◽  
Manuel Benjamín Ortiz-Moctezuma ◽  
Anand Sánchez-Orta ◽  
Vicente Parra-Vega
Keyword(s):  
Robust Control ◽  
Fractional Order ◽  
Adaptive Robust Control ◽  
Fractional Order Systems ◽  
Mismatched Disturbances

scholarly journals Dynamic Surface Adaptive Robust Control of Unmanned Marine Vehicles with Disturbance Observer

2018 ◽  
Vol 2018 ◽  
pp. 1-6 ◽  
Author(s):  
Pengchao Zhang
Keyword(s):  
Robust Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Three Dimensional ◽  
Lyapunov Stability Theory ◽  
Adaptive Robust Control ◽  
Dynamic Surface ◽  
Controlled System ◽  
Observer Error ◽  
Marine Vehicles

This paper presents a dynamic surface adaptive robust control method with disturbance observer for unmanned marine vehicles (UMV). It uses adaptive law to estimate and compensate the disturbance observer error. Dynamic surface is introduced to solve the “differential explosion” caused by the virtual control derivation in traditional backstepping method. The final controlled system is proved to be globally uniformly bounded based on Lyapunov stability theory. Simulation results illustrate the effectiveness of the proposed controller, which can realize the three-dimensional trajectory tracking for UMV with the systematic uncertainty and time-varying disturbances.

scholarly journals A Method of Enhancing Fast Steering Mirror’s Ability of Anti-Disturbance Based on Adaptive Robust Control

2019 ◽  
Vol 2019 ◽  
pp. 1-9
Author(s):  
Shitao Zhang ◽  
Bao Zhang ◽  
Xiantao Li ◽  
Zhengxi Wang ◽  
Feng Qian
Keyword(s):  
Robust Control ◽  
Pid Control ◽  
High Frequency ◽  
Disturbance Observer ◽  
Adaptive Robust Control ◽  
Line Of Sight ◽  
Frequency Noise ◽  
Robust Controller ◽  
High Frequency Noise ◽  
Control Accuracy

Fast steering mirror (FSM) plays a crucial role in stabilization of the line-of-sight (LOS) and phase shift compensation. The control accuracy of the FSM is affected by various disturbances especially the vibration in the aviation environment. Traditional anti-disturbance methods, such as disturbance observer (DOB), have a little effect of suppressing disturbance in FSM. But it also brings some problem, such as increasing mass and amplifying high frequency noise. To solve these problems, an anti-disturbance strategy based on adaptive robust control (ARC) was proposed. And it will not amplify the high-frequency noise which is inevitable in DOB. Experimental results show that, using adaptive robust controller, the steady-state error of the FSM decreased 4.8 times compared to simple PID control and 1.9 times compared to DOB+PID control in the simulated vibration environment.

Adaptive Robust Control for Hydraulic Actuators With Disturbance Estimation

2015 ◽  
Author(s):  
Z. B. Xu ◽  
J. Y. Yao ◽  
Z. L. Dong ◽  
Y. Zheng
Keyword(s):  
Robust Control ◽  
Finite Time ◽  
Disturbance Observer ◽  
High Performance ◽  
Adaptive Robust Control ◽  
Parametric Uncertainties ◽  
Tracking Accuracy ◽  
Robust Controller ◽  
Hydraulic Actuators ◽  
Disturbance Estimation

In this paper, an adaptive robust control for hydraulic actuators with disturbance estimation is proposed for a hydraulic system with mismatched generalized uncertainties (e.g., parameter derivations, external disturbances, and/or unmodeled dynamics), in which a finite time disturbance observer and an adaptive robust controller are synthesized via backstepping method. The finite time disturbance observer is designed to estimate the mismatched generalized uncertainties. The adaptive robust controller is designed to handle parametric uncertainties and stabilize the closed loop system. The proposed controller accounts for not only the parametric uncertainties, but also the mismatched generalized uncertainties. Furthermore, the controller theoretically guarantees a prescribed tracking transient performance and final tracking accuracy while achieving asymptotic tracking performance after a finite time T0, which is very important for high accuracy tracking control of hydraulic servo systems. Simulation results are obtained to verify the high performance nature of the proposed control strategy.

Fractional-Order Nonlinear Disturbance Observer Based Control of Fractional-Order Systems

2018 ◽  
Vol 13 (7) ◽  
Author(s):  
Aldo Jonathan Muñoz-Vázquez ◽  
Vicente Parra-Vega ◽  
Anand Sánchez-Orta
Keyword(s):  
Robust Control ◽  
Fractional Order ◽  
Finite Time ◽  
Disturbance Observer ◽  
Continuous Control ◽  
Fractional Order Systems ◽  
Sliding Modes ◽  
Nonlinear Disturbance Observer ◽  
Nonlinear Disturbance ◽  
Dynamic Observer

The robust control for a class of disturbed fractional-order systems is presented in this paper. The proposed controller considers a dynamic observer to exactly compensate for matched disturbances in finite time, and a procedure to compensate for unmatched disturbances is then derived. The proposed disturbance observer is built upon continuous fractional sliding modes, producing a fractional-order reaching phase, leading to a continuous control signal, yet able to reject for some continuous but not necessarily differentiable disturbances. Numerical simulations and comparisons are presented to highlight the reliability of the proposed scheme.

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