Intelligent disturbance rejection for robust tracking performance of X-Y positioning system

2010 ◽  
Author(s):  
Safanah M. Raafat ◽  
Rini Akmeliawati
Keyword(s):  
Disturbance Rejection ◽  
Tracking Performance ◽  
Positioning System ◽  
Robust Tracking

scholarly journals Active Disturbance Rejection Control for Position Tracking of Electro-Hydraulic Servo Systems under Modeling Uncertainty and External Load

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 20
Author(s):  
Manh Hung Nguyen ◽  
Hoang Vu Dao ◽  
Kyoung Kwan Ahn
Keyword(s):  
Angular Velocity ◽  
Disturbance Rejection ◽  
Lyapunov Theory ◽  
Tracking Performance ◽  
System Stability ◽  
Position Tracking ◽  
Parametric Uncertainties ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

In this paper, an active disturbance rejection control is designed to improve the position tracking performance of an electro-hydraulic actuation system in the presence of parametric uncertainties, non-parametric uncertainties, and external disturbances as well. The disturbance observers (Dos) are proposed to estimate not only the matched lumped uncertainties but also mismatched disturbance. Without the velocity measurement, the unmeasurable angular velocity is robustly calculated based on the high-order Levant’s exact differentiator. These disturbances and angular velocity are integrated into the control design system based on the backstepping framework which guarantees high-accuracy tracking performance. The system stability analysis is analyzed by using the Lyapunov theory. Simulations based on an electro-hydraulic rotary actuator are conducted to verify the effectiveness of the proposed control method.

Modeling and Disturbance Rejection Control of a Nanopositioner With Application to Beam Steering

2003 ◽  
Author(s):  
Jason J. Gorman ◽  
Nicholas G. Dagalakis
Keyword(s):  
Disturbance Rejection ◽  
Inertial Frame ◽  
Beam Steering ◽  
Tracking Error ◽  
Robust Tracking ◽  
Base Excitation ◽  
Modeling And Control ◽  
Disturbance Rejection Control ◽  
Motion Measurements ◽  
And Control

This paper discusses the modeling and control of a nanopositioning flexure hinge mechanism with a piezoelectric actuator. A complete dynamic model for the mechanism is presented along with experimentally determined system parameters. The control design concentrates on the problem of controlling the nanopositioner when a base excitation is injected into the system. The effects of the base excitation are overcome using two approaches. The first is a robust tracking controller which is developed to cancel the excitation effect on the tracking error. The second is an inertial compensator which is designed to update the desired trajectory using base motion measurements, such that the nanopositioner performs the desired trajectory in an inertial frame. This approach is demonstrated through simulation results. These principals are being developed for use in beam steering applications which require nanoradian resolution and very low beam jitter.

Trajectory Tracking Control for a Robotic Manipulator Using Nonlinear Active Disturbance Rejection Control

2017 ◽  
Author(s):  
Mohammed Ali ◽  
Charles K. Alexander
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Robot Manipulator ◽  
Tracking Performance ◽  
Active Disturbance Rejection Control ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

The tracking performance of a robot manipulator is controlled using nonlinear active disturbance rejection control (ADRC). The proposed method does not require the complete knowledge of the plant’s parameters, and external disturbances since it is based on the rejection and estimation of the unknown internal dynamics and external disturbances. The proposed method is simple and has minimal tuning parameters. The robustness of the proposed method is discussed against parameter uncertainties and disturbances. First, the mathematical model of the manipulator is developed. ADRC theory is explained. The manipulator is represented in ADRC form. ADRC’s tracking performance for the joints and end-effector is compared to the tracking performance of the robust passivity (RP) control. The simulations prove that the proposed control method achieves good tracking performance compared to RP control. It is shown that ADRC has a lower energy consumption compared to RP control by calculating the power in the input signals.

Non-invasive Ultrasound Theragnostic System with Highly Robust Tracking Performance for Body Targets

2016 ◽  
Vol 2016 (0) ◽  
pp. 1A1-01b2
Author(s):  
Dongjun LEE ◽  
Norihiro KOIZUMI ◽  
Atsushi Kayasuga ◽  
Hiroyuki TSUKIHARA ◽  
Hiroyuki FUKUDA ◽  
...  
Keyword(s):  
Tracking Performance ◽  
Robust Tracking ◽  
Non Invasive

Extended State Observer Based Controller Design for the Green Bank Telescope Servo System

2015 ◽  
Author(s):  
Trupti Ranka ◽  
Mario Garcia-Sanz ◽  
John M. Ford
Keyword(s):  
Disturbance Rejection ◽  
Pid Controller ◽  
Controller Design ◽  
Tracking Error ◽  
State Observer ◽  
Extended State Observer ◽  
Tracking Performance ◽  
Extended State ◽  
External Disturbances ◽  
Green Bank Telescope

The Green Bank Telescope is a large flexible structure, requiring rms tracking error ≤ 3 arcseconds against internal and external disturbances. We design an extended state observer (ESO) based controller in various configurations to improve tracking performance and increase disturbance rejection. The controllers are simulated with an experimentally validated model of the GBT. Through the simulations, the response of ESO based controllers and legacy PID controller are compared using time and frequency domain responses. We show that the ESO based controller when implemented in both position and velocity loop can give significant improvement in tracking performance and better disturbance rejection without increase in controller output.

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