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.

scholarly journals A Robotic Head Stabilization Device for Medical Transport

Robotics ◽  
2019 ◽  
Vol 8 (1) ◽  
pp. 23
Author(s):  
Adam Williams ◽  
Bijo Sebastian ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Disturbance Rejection ◽  
Experimental Validation ◽  
Traumatic Head Injury ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Traumatic Head ◽  
Medical Transport ◽  
Time Required ◽  
And Control ◽  
Future Work

In this paper, the design and control of a robotic device intended to stabilize the head and neck of a trauma patient during transport are presented. When transporting a patient who has suffered a traumatic head injury, the first action performed by paramedics is typically to restrain and stabilize the head and cervical spine of a patient. The proposed device would drastically reduce the time required to perform this action while also freeing a first responder to perform other possibly lifesaving actions. The applications for robotic casualty extraction are additionally explored. The design and construction are described, followed by control simulations demonstrating the improved behavior of the chosen controller paradigm, linear active disturbance rejection control (LADRC). Finally, experimental validation is presented, followed by future work and directions for the research.

scholarly journals Design of an active front steering system for a vehicle using an active disturbance rejection control method

2019 ◽  
Vol 103 (1) ◽  
pp. 003685041988356
Author(s):  
Nan Sang ◽  
Lele Chen
Keyword(s):  
Pid Control ◽  
Disturbance Rejection ◽  
Tracking Error ◽  
Lateral Acceleration ◽  
Active Disturbance Rejection Control ◽  
Vehicle Model ◽  
Active Disturbance Rejection ◽  
Active Front Steering ◽  
Disturbance Rejection Control ◽  
Better Than

A linear vehicle model is commonly employed in the controller design for an active front steering (AFS). However, this simplified model has a considerable influence on the accuracy of the controller. In this article, an AFS controller using an active disturbance rejection control (ADRC) technique is proposed to prevent this problem. The AFS controller was established in MATLAB/Simulink to control the CarSim vehicle model for verification of the simulation. Under the straight-line driving disturbance condition, proportion-integration-differentiation (PID) control and ARDC substantially decreased with respect to the uncontrolled lateral offset and ADRC performed better than PID control. Under the double lane change (DLC) test working condition, the tracking error of the path, yaw rate, roll angle, and lateral acceleration, and error of the driving direction were used to evaluate the vehicle’s controllability and stability. These evaluation indexes were substantially improved by PID control and ADRC; similarly, ADRC was better than PID control. The tracking error of the ADRC in the presence of parameter variance and external disturbance was significantly smaller than that of PID control. The results have verified that the AFS controller based on ADRC can significantly improve vehicle controllability and stability.

Isolation Application of Controlled and Uncontrolled Magnetorheological Dampers for Random Base Excitaion

2005 ◽  
Author(s):  
A. Narimani ◽  
M. F. Golnaraghi
Keyword(s):  
Base Isolation ◽  
Mr Damper ◽  
Optimization Method ◽  
Experimental Results ◽  
Base Excitation ◽  
Modeling And Control ◽  
Isolation Systems ◽  
Active Damper ◽  
Suspension Model ◽  
And Control

This paper presents experimental investigation of modeling and control of magnetorhological damper for transient base excitation inputs. Force characteristics of a commercially available MR damper (RD-1005-3) for shock and other transient base excitation are analytically obtained and validated using a scaled suspension model. The proposed model characterizes damper behavior more accurately and efficiently for analytical applications. The time and frequency responses of the developed model are compared with the experimental results and show good agreement. Finally, using the RMS optimization method the performance of the system for different types of controllers is compared with the optimal values of linear isolator system. Experimental results show that the performance of base isolation systems for transient and shock inputs significantly improves by utilizing a controlled semi-active damper over uncontrolled MR damper or an optimally designed passive isolator.

scholarly journals Active Disturbance Rejection Control for Air-Breathing Hypersonic Vehicles Based on Prescribed Performance Function

2019 ◽  
Vol 2019 ◽  
pp. 1-20 ◽  
Author(s):  
Chenyang Xu ◽  
Humin Lei ◽  
Na Lu
Keyword(s):  
Disturbance Rejection ◽  
Tracking Error ◽  
Hypersonic Vehicles ◽  
Active Disturbance Rejection Control ◽  
Parameter Uncertainties ◽  
Performance Function ◽  
Air Breathing ◽  
Prescribed Performance ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Aiming at the longitudinal motion model of the air-breathing hypersonic vehicles (AHVs) with parameter uncertainties, a new prescribed performance-based active disturbance rejection control (PP-ADRC) method was proposed. First, the AHV model was divided into a velocity subsystem and altitude system. To guarantee the reliability of the control law, the design process was based on the nonaffine form of the AHV model. Unlike the traditional prescribed performance control (PPC), which requires accurate initial tracking errors, by designing a new performance function that does not depend on the initial tracking error and can ensure the small overshoot convergence of the tracking error, the error convergence process can meet the desired dynamic and steady-state performance. Moreover, the designed controller combined with an active disturbance rejection control (ADRC) and extended state observer (ESO) further enhanced the disturbance rejection capability and robustness of the method. To avoid the differential expansion problem and effectively filter out the effects of input noise in the differential signals, a new tracking differentiator was proposed. Finally, the effectiveness of the proposed method was verified by comparative simulations.

Disturbance Rejection for Discrete-Time Linear Systems with Time-Delays via Internal Model Principle

2014 ◽  
Vol 590 ◽  
pp. 478-481
Author(s):  
Shao Ting Ge ◽  
Zhi Min Liu ◽  
Xue Xia Gao ◽  
Mei Xing Wang ◽  
Yu Qing Feng
Keyword(s):  
Linear Systems ◽  
Discrete Time ◽  
Disturbance Rejection ◽  
Delay System ◽  
Time Delay System ◽  
State Delay ◽  
Internal Model Principle ◽  
Disturbance Rejection Control ◽  
And Control ◽  
Time Linear

The disturbance rejection problem for discrete-time linear systems with both state delay and control delay is considered. Using a model transformation, the time-delay system is transformed into a nondelayed system. The disturbance rejection control law is obtained by solving its optimal regulation problem.

A Self-Repairing Control Scheme for Quadrotor Helicopter via Active Disturbance Rejection Control

2013 ◽  
Vol 404 ◽  
pp. 603-608
Author(s):  
Qing Bo Wu ◽  
Fu Yang Chen ◽  
Chang Yun Wen
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Disturbance Rejection ◽  
Control Algorithm ◽  
Tracking Error ◽  
Active Disturbance Rejection Control ◽  
Quadrotor Helicopter ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Scheme

In this paper, a self-repairing control scheme for attitude control of a quadrotor helicopter via active disturbance rejection control is proposed. Firstly, a model of the quadrotor helicopter is gained by its dynamic equations with pitch, roll and yaw axis. Then the active disturbance rejection controller is introduced, which is used to design the control system. The control system consists of PID controller in inner-loop and ADRC controller in outer-loop. Disturbances and uncertainties can be compensated by the ADRC to achieve smaller tracking error. Finally, the simulation results of the four-rotor helicopter validate the efficiency and self-repairing capability of the proposed control algorithm, compared with that of the PID control and the separate ADRC control.

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