Active Disturbance Compensating Tracking Control of an Unmanned Quadrotor Helicopter

2015 ◽  
Author(s):  
Zhixiang Liu ◽  
Xiang Yu ◽  
Chi Yuan ◽  
Youmin Zhang ◽  
Jun Luo
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Stable Operation ◽  
Closed Loop System ◽  
Control Approach ◽  
Unmanned Quadrotor Helicopter ◽  
Quadrotor Helicopter ◽  
Adaptive Compensator ◽  
Feedback Tracking ◽  
Disturbance Estimator

In this paper, a novel active disturbance compensating tracking control method is presented with applications to an unmanned quadrotor helicopter. First, a normal state feedback tracking controller is optimized to guarantee stable operation in a calm environment and then, a retrofit control mechanism including a disturbance estimator and an adaptive compensator are developed that asymptotically stabilize the closed-loop system in the presence of constant external force disturbances. To evaluate the presented scheme, numerical simulations based on a nonlinear quadrotor helicopter model are conducted by comparing the performance of a normal control method and the proposed control approach.

Aeroengine Multivariable Nonlinear Tracking Control Based on Uncertainty and Disturbance Estimator

2014 ◽  
Vol 136 (12) ◽  
Author(s):  
Lingfei Xiao
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Reference Model ◽  
Robust Tracking Control ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Control Approach ◽  
Nonlinear Tracking ◽  
Uncertainty And Disturbance Estimator ◽  
Disturbance Estimator

The multivariable robust tracking control problem for aeroengine is considered in this paper. On the basis of the aeroengine nonlinear affine uncertain dynamic model, and according to uncertainty and disturbance estimator (UDE) control approach, a novel aeroengine multivariable robust nonlinear tracking control method is presented in order to provide favorable tracking and disturbance rejection performance. After getting a generalization form of UDE-based aeroengine multivariable controller, a simplification form of control law is obtained when a specified form of low-pass filter is applied. Reference model of the aeroengine system should have satisfying dynamic, thus an optional reference model is provided. Simulation on a twin-shaft aeroengine with two inputs, verifies the effectiveness of the proposed method.

scholarly journals Adaptive-MPPT-Based Control of Improved Photovoltaic Virtual Synchronous Generators

Energies ◽  
2018 ◽  
Vol 11 (7) ◽  
pp. 1834 ◽  
Author(s):  
Xiangwu Yan ◽  
Jiajia Li ◽  
Ling Wang ◽  
Shuaishuai Zhao ◽  
Tie Li ◽  
...  
Keyword(s):  
Energy Storage ◽  
Control Method ◽  
Synchronous Generator ◽  
Storage Device ◽  
Stable Operation ◽  
Energy Storage Devices ◽  
Two Stage ◽  
Additional Energy ◽  
Control Approach ◽  
Pv Grid

The lack of inertia and damping mechanism of photovoltaic (PV) grid-connected systems controlled by maximum power point tracking (MPPT) poses a challenge for the safety and stability of the grid. Virtual synchronous generator (VSG) technology has attracted wide attention, since it can make PV grid-connected inverter present the external characteristics of a synchronous generator (SG). Nevertheless, traditional PV-VSG is generally equipped with an energy storage device, which leads to many problems, such as increased costs, space occupation, and post-maintenance. Thus, this paper proposes a two-stage improved PV-VSG control method based on an adaptive-MPPT algorithm. When PV power is adequate, the adaptive-MPPT allows the PV to change the operating point within a stable operation area to actualize system supply-demand, matching in accordance to the load or dispatching power demand; when PV power is insufficient, PV achieves traditional MPPT control to reduce power shortage; simultaneously, improved VSG control prevents the DC bus voltage from falling continuously to ensure its stability. The proposed control approach enables the two-stage PV-VSG to supply power to loads or connect to the grid without adding additional energy storage devices, the effectiveness of which in off-grid and grid-connected modes is demonstrated by typical simulation conditions.

scholarly journals On Stability of Perturbed Nonlinear Switched Systems with Adaptive Reinforcement Learning

Energies ◽  
2020 ◽  
Vol 13 (19) ◽  
pp. 5069
Author(s):  
Phuong Nam Dao ◽  
Hong Quang Nguyen ◽  
Minh-Duc Ngo ◽  
Seon-Ju Ahn
Keyword(s):  
Optimal Control ◽  
Reinforcement Learning ◽  
Switched Systems ◽  
Tracking Control ◽  
Control Method ◽  
Learning Algorithm ◽  
Hjb Equation ◽  
Control Approach ◽  
Nonlinear Switched Systems ◽  
Hamilton Jacobi Bellman

In this paper, a tracking control approach is developed based on an adaptive reinforcement learning algorithm with a bounded cost function for perturbed nonlinear switched systems, which represent a useful framework for modelling these converters, such as DC–DC converter, multi-level converter, etc. An optimal control method is derived for nominal systems to solve the tracking control problem, which results in solving a Hamilton–Jacobi–Bellman (HJB) equation. It is shown that the optimal controller obtained by solving the HJB equation can stabilize the perturbed nonlinear switched systems. To develop a solution to the translated HJB equation, the proposed neural networks consider the training technique obtaining the minimization of square of Bellman residual error in critic term due to the description of Hamilton function. Theoretical analysis shows that all the closed-loop system signals are uniformly ultimately bounded (UUB) and the proposed controller converges to optimal control law. The simulation results of two situations demonstrate the effectiveness of the proposed controller.

scholarly journals Robust cooperative path tracking control algorithm for multi-vessel

2016 ◽  
Vol 8 (12) ◽  
pp. 168781401668330
Author(s):  
Jianfang Jiao ◽  
Guang Wang
Keyword(s):  
Control System ◽  
Tracking Control ◽  
Cooperative Control ◽  
Control Method ◽  
Path Tracking ◽  
Ocean Currents ◽  
Guidance System ◽  
Backstepping Method ◽  
Control Approach ◽  
Virtual Leader

The issue of distributed cooperative path tracking control for multi-vessel in the presence of ocean currents has addressed in this article. The proposed cooperative control approach is achieved by designing the guidance system and the control system. In order to achieve the multi-vessel’s coordination with the desired spatial formation, the guidance system is designed based on the strategy of virtual leader for supplying the desire path and relevant parameters for each vessel. In addition, a robust cooperative path tracking controller is designed to reject the disturbance of unknown ocean currents using the backstepping method and the adaptive control technology. The synchronization between all the vessels is achieved by defining same path parameter and same speed along the path through the guidance system. Global asymptotic stability is guaranteed by Lyapunov-based technique for the whole control system. The effectiveness of the proposed cooperative path tracking control method is demonstrated by numerical simulation.

Robust Attitude Tracking Control for a Quadrotor Based on the Uncertainty and Disturbance Estimator

2015 ◽  
Author(s):  
Jiguo Dai ◽  
Qi Lu ◽  
Beibei Ren ◽  
Qing-Chang Zhong
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Controller Design ◽  
Tracking Error ◽  
Experimental Studies ◽  
Attitude Tracking ◽  
Uncertainty And Disturbance Estimator ◽  
Error Dynamics ◽  
Attitude Tracking Control ◽  
Disturbance Estimator

In this paper, a robust control method based on the uncertainty and disturbance estimator (UDE) is developed to achieve the attitude tracking control for a quadrotor. To facilitate the control design, the coupled terms in the roll, pitch and yaw dynamics are lumped into the uncertainty term and the remained dynamics can be regarded as decoupled subsystems. As a result, for each subsystem, the lumped uncertainty term contains all the coupled terms, uncertainties and disturbances, then the UDE method is applied for the uncertainty compensation. Compared with the existing UDE control works, the introduced filtered tracking error dynamics simplifies the controller design and implementation. Furthermore, the stability analysis of the closed-loop system is established and experimental studies are carried out to illustrate the effectiveness of the developed control method.

Multi-dimensional Taylor network-based adaptive control for nonlinear systems with unknown parameters

2020 ◽  
pp. 014233122095335
Author(s):  
Lei Chu ◽  
Yuqun Han ◽  
Shanliang Zhu ◽  
Mingxin Wang
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Control Method ◽  
Controller Design ◽  
Tracking Error ◽  
Unknown Parameters ◽  
Nonlinear Characteristics ◽  
Control Approach ◽  
Closed Loop Systems ◽  
Adaptive Laws

This paper presents an adaptive multi-dimensional Taylor network (MTN) control approach for a class of nonlinear systems with unknown parameters. MTN is employed to identify unknown nonlinear characteristics existing in the system, and then a novel adaptive MTN tracking control method is proposed, via backstepping technique. In the controller design, double adaptive laws are designed and appropriate Lyapunov functions are chosen to overcome the difficulties caused by the unknown parameters. The designed controller can guarantee that all the variables in the closed-loop systems are bounded and the tracking error can be arbitrarily small. Finally, simulation results are presented to verify the effectiveness of the proposed approach.

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