Double-Disturbance Compensation Design for Full-Closed Cascade Control of Flexible Robots

2021 ◽  
Author(s):  
Tran Vu Trung ◽  
Makoto Iwasaki
Keyword(s):  
Cascade Control ◽  
Disturbance Compensation ◽  
Flexible Robots ◽  
Compensation Design

Adaptive composite control method of permanent magnet synchronous motor systems

2017 ◽  
Vol 40 (11) ◽  
pp. 3345-3357 ◽  
Author(s):  
Zhenxing Sun ◽  
Shihua Li ◽  
Jiegao Wang ◽  
Xinghua Zhang ◽  
Xiaohui Mo
Keyword(s):  
Control Method ◽  
Permanent Magnet Synchronous Motor ◽  
Digital Signal ◽  
Cascade Control ◽  
Current Loop ◽  
Single Loop ◽  
Control Scheme ◽  
Control Schemes ◽  
Relative Differences ◽  
Compensation Design

With the development of digital signal processes, the relative differences of PMSM single loop in control periods between the speed loop and current loops are becoming smaller or even vanishing. Therefore, cascade control schemes seem to be unnecessary. In addition, considering the effects of disturbances and the variety of moments of inertia, this paper proposes a scheme using an adaptive non-cascade control method to design the controller, which merges speed loop and q-axis current loop into one single loop. First, an extended state observer (ESO) is employed to estimate the disturbances of the system. The estimated value is used in the feedforward compensation design to improve the capability of system anti-disturbance. Then, considering the performance degradation caused by inertia change, an adaptive control scheme is developed. By using inertia identification technology, the feedforward compensation gain can be tuned automatically according to the identification value. Several groups of simulations and experiments are carried out and the results demonstrate the effectiveness of the proposed scheme.

A High Performance and Low Bandwidth Multi-Standard Motion Compensation Design for HD Video Decoder

2010 ◽  
Vol E93-C (3) ◽  
pp. 253-260 ◽  
Author(s):  
Xianmin CHEN ◽  
Peilin LIU ◽  
Dajiang ZHOU ◽  
Jiayi ZHU ◽  
Xingguang PAN ◽  
...  
Keyword(s):  
Motion Compensation ◽  
High Performance ◽  
Video Decoder ◽  
Compensation Design

scholarly journals Robust Quadrotor Control through Reinforcement Learning with Disturbance Compensation

2021 ◽  
Vol 11 (7) ◽  
pp. 3257
Author(s):  
Chen-Huan Pi ◽  
Wei-Yuan Ye ◽  
Stone Cheng
Keyword(s):  
Neural Network ◽  
Reinforcement Learning ◽  
Control Strategy ◽  
External Disturbance ◽  
Control Agent ◽  
Network Control ◽  
Outdoor Environment ◽  
Disturbance Compensation ◽  
Tracking Accuracy ◽  
Control Scheme

In this paper, a novel control strategy is presented for reinforcement learning with disturbance compensation to solve the problem of quadrotor positioning under external disturbance. The proposed control scheme applies a trained neural-network-based reinforcement learning agent to control the quadrotor, and its output is directly mapped to four actuators in an end-to-end manner. The proposed control scheme constructs a disturbance observer to estimate the external forces exerted on the three axes of the quadrotor, such as wind gusts in an outdoor environment. By introducing an interference compensator into the neural network control agent, the tracking accuracy and robustness were significantly increased in indoor and outdoor experiments. The experimental results indicate that the proposed control strategy is highly robust to external disturbances. In the experiments, compensation improved control accuracy and reduced positioning error by 75%. To the best of our knowledge, this study is the first to achieve quadrotor positioning control through low-level reinforcement learning by using a global positioning system in an outdoor environment.

scholarly journals Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199399
Author(s):  
Xiaoguang Li ◽  
Bi Zhang ◽  
Daohui Zhang ◽  
Xingang Zhao ◽  
Jianda Han
Keyword(s):  
Adaptive Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Control Method ◽  
Control Law ◽  
Reference Trajectory ◽  
Disturbance Compensation ◽  
Comparison Results ◽  
Control Scheme ◽  
Actuator System

Shape memory alloy (SMA) has been utilized as the material of smart actuators due to the miniaturization and lightweight. However, the nonlinearity and hysteresis of SMA material seriously affect the precise control. In this article, a novel disturbance compensation-based adaptive control scheme is developed to improve the control performance of SMA actuator system. Firstly, the nominal model is constructed based on the physical process. Next, an estimator is developed to online update not only the unmeasured system states but also the total disturbance. Then, the novel adaptive controller, which is composed of the nominal control law and the compensation control law, is designed. Finally, the proposed scheme is evaluated in the SMA experimental setup. The comparison results have demonstrated that the proposed control method can track reference trajectory accurately, reject load variations and stochastic disturbances timely, and exhibit satisfactory robust stability. The proposed control scheme is system independent and has some potential in other types of SMA-actuated systems.

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