Decentralized controller design based on 3-order active-disturbance-rejection-control

2012 ◽  
Author(s):  
Lingling Tian ◽  
Donghai Li ◽  
Chun-e Huang
Keyword(s):  
Disturbance Rejection ◽  
Controller Design ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Automated steering controller design for vehicle lane keeping combining linear active disturbance rejection control and quantitative feedback theory

2018 ◽  
Vol 232 (7) ◽  
pp. 937-948 ◽  
Author(s):  
Zhengrong Chu ◽  
Christine Wu ◽  
Nariman Sepehri
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Controller Design ◽  
Active Disturbance Rejection Control ◽  
Quantitative Feedback Theory ◽  
Steering Control ◽  
Parameter Uncertainties ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Lane Keeping

In this article, a new automated steering control method is presented for vehicle lane keeping. This method is a combination between the linear active disturbance rejection control and the quantitative feedback theory. The structure of the steering controller is first determined based on the linear active disturbance rejection control, then the controller is tuned in the framework of the quantitative feedback theory to meet the prescribed design specifications on sensitivity and closed-loop stability. The parameter uncertainties of the vehicle system are considered at the tuning stage. The proposed steering controller is simulated and tested on a scale vehicle. Both the simulation and experimental results demonstrate that the scale vehicle controlled by the proposed controller is able to perform the lane keeping. In the experiments, the lateral offset between the scale vehicle and the road centerline is regulated within the acceptable ranges of ±0.03 m during straight lane keeping and ±0.15 m during curved lane keeping. The proposed controller is easy to be implemented and is simple without requiring complex calculations and measurements of vehicle states. Simulations also show that the control method can be implemented on a full-scale vehicle.

scholarly journals A Delta Operator Approach for the Discrete-Time Active Disturbance Rejection Control on Induction Motors

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
John Cortés-Romero ◽  
Alberto Luviano-Juárez ◽  
Hebertt Sira-Ramírez
Keyword(s):  
Discrete Time ◽  
Disturbance Rejection ◽  
Induction Motors ◽  
Controller Design ◽  
Delta Operator ◽  
Active Disturbance Rejection Control ◽  
Operator Approach ◽  
Time Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

The problem of active disturbance rejection control of induction motors is tackled by means of a generalized PI observer based discrete-time control, using the delta operator approach as the methodology of analyzing the sampled time process. In this scheme, model uncertainties and external disturbances are included in a general additive disturbance input which is to be online estimated and subsequently rejected via the controller actions. The observer carries out the disturbance estimation, thus reducing the complexity of the controller design. The controller efficiency is tested via some experimental results, performing a trajectory tracking task under load variations.

scholarly journals Adaptive Fuzzy Active-Disturbance Rejection Control-Based Reconfiguration Controller Design for Aircraft Anti-Skid Braking System

Actuators ◽  
2021 ◽  
Vol 10 (8) ◽  
pp. 201
Author(s):  
Zhao Zhang ◽  
Zhong Yang ◽  
Guoxing Zhou ◽  
Shuchang Liu ◽  
Dongsheng Zhou ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Controller Design ◽  
External Disturbance ◽  
Strong Nonlinearity ◽  
Active Disturbance Rejection Control ◽  
Adaptive Fuzzy ◽  
Braking System ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Reconfiguration Controller

The aircraft anti-skid braking system (AABS) is an essential aero electromechanical system to ensure safe take-off, landing, and taxiing of aircraft. In addition to the strong nonlinearity, strong coupling, and time-varying parameters in aircraft dynamics, the faults of actuators, sensors, and other components can also seriously affect the safety and reliability of AABS. In this paper, a reconfiguration controller-based adaptive fuzzy active-disturbance rejection control (AFADRC) is proposed for AABS to meet increased performance demands in fault-perturbed conditions as well as those concerning reliability and safety requirements. The developed controller takes component faults, external disturbance, and measurement noise as the total perturbations, which are estimated by an adaptive extended state observer (AESO). The nonlinear state error feedback (NLSEF) combined with fuzzy logic can compensate for the adverse effects and ensure that the faulty AABS maintains acceptable performance. Numerical simulations are carried out in different runway environments. The results validate the robustness and reconfiguration control capability of the proposed method, which improves AABS safety as well as braking efficiency.

A Fractional-Order Active Disturbance Rejection Controller Design for a PMSM Servo System

2021 ◽  
Author(s):  
Bolin Li ◽  
Pengchong Chen ◽  
Ying Luo
Keyword(s):  
Fractional Order ◽  
Disturbance Rejection ◽  
Controller Design ◽  
Tracking Error ◽  
Servo System ◽  
Parameter Tuning ◽  
Phase Constraint ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Abstract This paper proposes a fractional-order active disturbance rejection controller (FOADRC) parameters tuning design method for a permanent magnet synchronous motor (PMSM) servo system with frequency-domain analysis of active disturbance rejection control. In this method, a fractional-order proportional derivative (FOPD) and a fractional-order [proportional derivative] (FO[PD]) controllers design combining with active disturbance rejection control (ADRC) are proposed. A systematic parameter tuning scheme is presented, and a flat phase constraint is applied as a design specification, which guarantees the phase is flat around the gain crossover frequency point, and the closed-loop system is robust to gain variations. The simulation results illustrate that the response of the PMSM servo system using FO[PD]-ADRC has a smaller overshoot, less tracking error, and better resistance to load disturbance than that using FOPD-ADRC.

scholarly journals Rapid attitude maneuver of the space tether net capture system using active disturbance rejection control

2019 ◽  
Vol 10 (2) ◽  
pp. 575-587
Author(s):  
Cheng Wei ◽  
Hao Liu ◽  
Chunlin Tan ◽  
Yongjian Liu ◽  
Yang Zhao
Keyword(s):  
Disturbance Rejection ◽  
Controller Design ◽  
Strong Nonlinearity ◽  
Active Disturbance Rejection Control ◽  
Control Performance ◽  
Space Tether ◽  
Flexible System ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Attitude Maneuver

Abstract. The space tether net capture system is a spacecraft system with a mounting tether net for capturing targets. It has the advantages of reusability and the adaptability to capture varying targets with different geometries or flying-motion statuses. However, due to its flexible tether net, the system shows strong nonlinearity, which makes it difficult to achieve the desired control performance for rapid and accurate maneuvering; moreover, this limits the ability of the tether net system to capture fast-moving targets. This paper focused on the maneuver controller design of the space capture system with a large flexible tether net. Firstly, based on the absolute node coordinate method, the dynamic model of the space tether net system is established, which can accurately describe the geometric and material nonlinearities of the space tether net. Then, a two-loop active disturbance rejection control is proposed for the rapid and high-precision maneuvering of the flexible system; meanwhile the second-order extended state observer is designed to estimate and compensate for the tether net vibration disturbance. The simulation validated the proposed control, which could complete the rapid and accurate maneuvering and also compensate for the disturbance caused by the vibration of the flexible tether net.

scholarly journals Combined of Lyapunov-stable and active disturbance rejection control for the path following of a small unmanned aerial vehicle

2017 ◽  
Vol 14 (2) ◽  
pp. 172988141769915 ◽  
Author(s):  
Yang Chen ◽  
Jianhong Liang ◽  
Chaolei Wang ◽  
Yicheng Zhang
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Disturbance Rejection ◽  
Controller Design ◽  
Hierarchical Control ◽  
Path Following ◽  
Roll Angle ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Aerial Vehicle

This article proposes a composite path following controller that allows the small fixed-wing unmanned aerial vehicle to follow a predefined path. Assuming that the vehicle is equipped with an autopilot for altitude and airspeed maintained well, the controller design adopts the hierarchical control structure. With the inner-loop controller design based on the notion of active disturbance rejection control which will respond to the desired roll angle command, the core part of the outer-loop controller is designed based on Lyapunov stability theorem to generate the desired course rate for the straight-line paths. The bank to turn maneuver is used to transform the desired course rate to the desired roll angle command. Both the hardware-in-the-loop simulation in the X-Plane simulator and actual experimental flight tests have been successfully achieved, which verified the effectiveness of the proposed method.

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