Research on Pose Control of Quad-rotor UAV Based on Sliding Mode Active Disturbance Rejection

2020 ◽  
Author(s):  
Liu Baoying ◽  
Li Mingqiu ◽  
Yang Junwei
Keyword(s):  
Disturbance Rejection ◽  
Sliding Mode ◽  
Active Disturbance Rejection ◽  
Pose Control

Simulation of Control System for Permanent Magnet Synchronous Machine

2011 ◽  
Vol 66-68 ◽  
pp. 1422-1427
Author(s):  
Ting You ◽  
Pei Jiang Li
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Permanent Magnet ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Synchronous Machine ◽  
Permanent Magnet Synchronous Machine ◽  
Mode Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

For optimal control of synchronous machine, chattering phenomenon will appear if traditional slider control is adopted because permanent magnet synchronous machine is a complex nonlinear time-dependent system with strong coupling of current and rotational speed to cause the deterioration of system control performance with load or load disturbance. In this article, based on the mathematical model of permanent magnet synchronous machine, a control system for it, which combines sliding mode control and active disturbance rejection control, is proposed to improve the dynamic performance and robustness of control system. In the control system, sliding mode control is adopted to control the inner current of machine and active disturbance rejection control is adopted to control the outer speed. The load disturbance of system is also estimated and offset. The results of matlab simulation show that the control system can eliminate serious chattering phenomenon existing in sliding mode control, improves the robustness of system for load and system parameter disturbance as well as has great dynamic and static performance.

Adaptive output-feedback robust active disturbance rejection control for uncertain quadrotor with unknown disturbances

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Nigar Ahmed ◽  
Syed Awais Ali Shah
Keyword(s):  
Output Feedback ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
The State ◽  
Active Disturbance Rejection Control ◽  
State Variables ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Attitude Model

PurposeIn this research paper, an adaptive output-feedback robust active disturbance rejection control (RADRC) is designed for the multiple input multiple output (MIMO) quadrotor attitude model subject to unwanted uncertainties and disturbances (UUDs).Design/methodology/approachIn order to achieve the desired control objectives in the presence of UUDs, the low pass filter (LPF) and extended high gain observer (EHGO) methods are used for the estimation of matched and mismatched UUDs, respectively. Furthermore, for solving the chattering incurred in the standard sliding mode control (SMC), a multilayer sliding mode surface is constructed. For formulating the adaptive output-feedback RADRC algorithm, the EHGO, LPF and SMC schemes are combined using the separation principle.FindingsThe findings of this research work include the design of an adaptive output-feedback RADRC with the ability to negate the UUDs as well as estimate the unknown states of the quadrotor attitude model. In addition, the chattering problem is addressed by designing a modified SMC scheme based on the multilayer sliding mode surface obtained by utilizing the estimated state variables. This sliding mode surface is also used to obtain the adaptive criteria for the switching design gain parameters involved in the SMC. Moreover, the requirement of high design gain parameters in the EHGO is solved by combining it with the LPF.Originality/valueDesigning the flight control techniques while assuming that the state variables are available is a common practice. In addition, to obtain robustness, the SMC technique is widely used. However, in practice, the state variables might not be available due to unknown parameters and uncertainties, as well as the chattering due to SMC reduces the performances of the actuators. Hence, in this paper, an adaptive output-feedback RADRC technique is designed to solve the problems of UUDs and chattering.

scholarly journals High-Order Sliding Mode-Based Fixed-Time Active Disturbance Rejection Control for Quadrotor Attitude System

Electronics ◽  
2018 ◽  
Vol 7 (12) ◽  
pp. 357 ◽  
Author(s):  
Chunlin Song ◽  
Changzhu Wei ◽  
Feng Yang ◽  
Naigang Cui
Keyword(s):  
Disturbance Rejection ◽  
Sliding Mode ◽  
Fixed Time ◽  
High Order ◽  
Extended State Observer ◽  
Active Disturbance Rejection Control ◽  
Extended State ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Scheme

This article presents a fixed-time active disturbance rejection control approach for the attitude control problem of quadrotor unmanned aerial vehicle in the presence of dynamic wind, mass eccentricity and an actuator fault. The control scheme applies the feedback linearization technique and enhances the performance of the traditional active disturbance rejection control (ADRC) based on the fixed-time high-order sliding mode method. A switching-type uniformly convergent differentiator is used to improve the extended state observer for estimating and attenuating the lumped disturbance more accurately. A multivariable high-order sliding mode feedback law is derived to achieve fixed time convergence. The timely convergence of the designed extended state observer and the feedback law is proved theoretically. Mathematical simulations with detailed actuator models and real time experiments are performed to demonstrate the robustness and practicability of the proposed control scheme.

Electro-hydraulic position servo system based on sliding mode active disturbance rejection compound control

2021 ◽  
pp. 095440622110282
Author(s):  
Zhang He ◽  
Zhao Jiyun ◽  
Wang Yunfei ◽  
Zhang Zhonghai ◽  
Ding Haigang ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Sliding Mode ◽  
Servo System ◽  
Active Disturbance Rejection Control ◽  
Compound Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Uncertain Disturbances ◽  
Position Servo

This study proposes a compound control method based on sliding mode and active disturbance rejection control to address the difficulty of controlling the cutting head for boom-type roadheader with parameter changes and uncertain disturbances. The fastest discrete tracking differentiator and extended state observer based on the traditional active disturbance rejection control are designed. Additionally, the controller of the sliding mode and active disturbance rejection control is constructed. Theoretical analysis indicates that the proposed controller ensures asymptotic stability, despite the existing uncertain disturbances. Moreover, a system based on AMESim and MATLAB/Simulink Co-simulation model is developed to further verify the performance of proposed algorithm. Compared with traditional active disturbance rejection control, proportional-integral-derivative(PID) and sliding mode control, co-simulation results demonstrate that the sliding mode active disturbance rejection compound control improves the tracking accuracy and robustness of the position servo system.

Fuzzy sliding mode based active disturbance rejection control for active suspension system

2019 ◽  
Vol 234 (2-3) ◽  
pp. 449-457
Author(s):  
Haoping Wang ◽  
Yeqing Lu ◽  
Yang Tian ◽  
Nicolai Christov
Keyword(s):  
Disturbance Rejection ◽  
Ride Comfort ◽  
Actuator Saturation ◽  
Sliding Mode ◽  
Suspension System ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Car Suspension ◽  
Disturbance Rejection Control ◽  
Fuzzy Sliding Mode

This article deals with the control problem of 7-degrees of freedom full-car suspension system which takes into account the spring-damper nonlinearities, unmodeled dynamics and external disturbances. The existing active disturbance rejection control uses an extended state observer to estimate the “total disturbance” and eliminate it with state error feedback. In this article, a new type of active disturbance rejection control is developed to improve the ride comfort of full car suspension systems taking into account the suspension nonlinearities and actuator saturation. The proposed controller combines active disturbance rejection control and fuzzy sliding mode control and is called Fuzzy Sliding Mode active disturbance rejection control. To validate the system mathematical model and analyze the controller performance, a virtual prototype is built in Adams. The simulation results demonstrate better performance of Fuzzy Sliding Mode active disturbance rejection control compared to the existing active disturbance rejection control.

scholarly journals Bus Voltage Control of DC Distribution Network Based on Sliding Mode Active Disturbance Rejection Control Strategy

Energies ◽  
2020 ◽  
Vol 13 (6) ◽  
pp. 1358 ◽  
Author(s):  
Boning Wu ◽  
Xuesong Zhou ◽  
Youjie Ma
Keyword(s):  
Disturbance Rejection ◽  
Sliding Mode ◽  
Distribution Network ◽  
Sliding Mode Controller ◽  
Active Disturbance Rejection Control ◽  
State Variables ◽  
Active Disturbance Rejection ◽  
Dc Distribution ◽  
Disturbance Rejection Control ◽  
Bus Voltage

The DC distribution network has more advantages in power transmission, grid connection of distributed energy, and reliability of power supply when compared with AC distribution network, but there are still many problems in the development of DC distribution network. DC bus voltage control is one of the hot issues in the research of DC distribution network. To solve this problem, in this paper, a new type of sliding mode active disturbance rejection control (SMADRC) controller for AC/DC converters is designed and applied to the voltage outer loop. The linear extended state observer (LESO) can observe the state variables and the total disturbance of the system. The SMADRC is composed of a sliding mode controller, LESO, and disturbance compensator, which can compensate the total disturbance observed by LESO properly. Therefore, it improves the dynamic. At the same time, it can also reduce the system jitter that is caused by sliding mode controller. The state variables that are observed by the LESO are used in the design of sliding mode controller, which greatly simplifies the design of sliding mode controller. Finally, the simulation results of Matlab/Simulink show that the controller has good start-up performance and strong robustness.

Robust Active Disturbance Rejection Control For Flexible Link Manipulator

Robotica ◽  
2019 ◽  
Vol 38 (1) ◽  
pp. 118-135 ◽  
Author(s):  
Raouf Fareh ◽  
Mohammad Al-Shabi ◽  
Maamar Bettayeb ◽  
Jawhar Ghommam
Keyword(s):  
Disturbance Rejection ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Control Law ◽  
Active Disturbance Rejection Control ◽  
Flexible Link ◽  
Estimation Errors ◽  
Disturbance Estimation ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

SummaryThis paper presents an advanced robust active disturbance rejection control (ADRC) for flexible link manipulator (FLM) to track desired trajectories in the joint space and minimize the link’s vibrations. It has been shown that the ADRC technique has a very good disturbance rejection capability. Both the internal dynamics and the external disturbances can be estimated and compensated in real time. The proposed robust ADRC control law is developed to solve the problems existing in the original version of the ADRC related to the disturbance estimation errors and the variation of the parameters. Indeed, these parameters cannot be included in the existing disturbances and then be estimated by the extended state observer. The proposed control law is based on the sliding mode technique, which considers the uncertainties in the control gains and disturbance estimation errors. Lyapunov theory is used to prove the closed-loop stability of the system. The proposed control strategy is simulated and tested experimentally on one FLM. The effect of the observer bandwidth on the system performance is simulated and studied to select the best values of the bandwidth frequency. The simulation and experimental results show that the proposed robust ADRC has better performance than the traditional ADRC.

scholarly journals Leader–follower formation source seeking control of multiple ships using sliding mode active disturbance rejection observer

2020 ◽  
pp. 002029402091992
Author(s):  
Zhicheng Yuan ◽  
Benchao Wu ◽  
Jiayi He ◽  
Xingchen Fu ◽  
Hua Chen
Keyword(s):  
Scalar Field ◽  
Finite Time ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Least Square Method ◽  
Least Square ◽  
External Disturbances ◽  
Field Source ◽  
Active Disturbance Rejection ◽  
Source Seeking

In this paper, the control of multiple ships for unknown scalar field source seeking problem with unknown external disturbances is considered. The sliding mode active disturbance rejection observers are designed first to converge to fixed multiple of the unknown external disturbances in finite time, respectively, and a least square method is adopted to estimate the gradient of the unknown scalar field at the position of the leading ship. Second, the surge, sway and angle velocity of the leading ship can converge to the virtual kinematic controllers through the input control of the dynamic controllers using force and torque in finite time. Third, the virtual controllers and dynamic controllers of the following ships are developed to urge the following ships to accomplish the source seeking problem from the perspective of dynamics. Finally, theoretical proofs and simulations are provided to prove the effectiveness of the strategy proposed.

Development of the active disturbance rejection control method for increasing the stability of the long articulated vehicle

2019 ◽  
Vol 233 (13) ◽  
pp. 3554-3576 ◽  
Author(s):  
Naser Esmaeili ◽  
Reza Kazemi
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Sliding Mode ◽  
Active Disturbance Rejection Control ◽  
Positive Effects ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Articulated Vehicles ◽  
Sliding Mode Controllers ◽  
Articulated Vehicle

Today, with the increasing growth in road traffic, many countries are welcoming long articulated vehicles because of their economic and environmental benefits and the positive effects on the problem of traffic congestion and the reduction in fuel consumption and environmental pollutants. The major problem with such vehicles is poor maneuverability at low speeds and inappropriate lateral performance at high speeds, resulting in accidents and financial losses. Therefore, in order to improve their safety, they need a control system that can improve the performance of the long articulated vehicles. In this article, a 19-degree of freedom dynamic model of the long articulated vehicle has been developed in MATLAB software. This vehicle consists of a tractor and two semi-trailer units. To adjust the articulated vehicle lateral dynamics, a robust control method based on the combination of active disturbance rejection control and back-stepping sliding mode control is introduced. Four control variables such as yaw rate and lateral velocity of the tractor and also first and second articulation angles are regulated by steering the axles of the tractor and two trailers. Furthermore, in order to measure the state variables of the long articulated vehicle, the extended Kalman filter is used. The results of the simulation in high-speed lane change and low-speed steep steer maneuvers indicate the superiority of this method over linear-quadratic regulator and sliding mode controllers. Finally, the robustness of this controller than conventional sliding mode and active disturbance rejection sliding mode controllers have been shown in the presence of noises.

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