scholarly journals Robust Observer Based Disturbance Rejection Control for Euler-Lagrange Systems

2016 ◽  
Vol 2016 ◽  
pp. 1-13 ◽  
Author(s):  
Yanjun Zhang ◽  
Lu Wang ◽  
Jun Zhang ◽  
Jianbo Su
Keyword(s):  
Robust Stability ◽  
Disturbance Rejection ◽  
Feedback Linearization ◽  
Parameters Optimization ◽  
Nonlinear Dynamic Model ◽  
Outer Loop ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Disturbance Rejection Control ◽  
Attitude Tracking

Robust disturbance rejection control methodology is proposed for Euler-Lagrange systems, and parameters optimization strategy for the observer is explored. First, the observer based disturbance rejection methodology is analyzed, based on which the disturbance rejection paradigm is proposed. Thus, a disturbance observer (DOB) with partial feedback linearization and a low-pass filter is proposed for nonlinear dynamic model under relaxed restrictions of the generalized disturbance. Then, the outer-loop backstepping controller is designed for desired tracking performance. Considering that the parameters of DOB cannot be obtained directly based on Lyapunov stability analysis, parameter of DOB is optimized under standardH∞control framework. By analyzing the influence of outer-loop controller on the inner-loop observer parameter, robust stability constraint is proposed to guarantee the robust stability of the closed-loop system. Experiment on attitude tracking of an aircraft is carried out to show the effectiveness of the proposed control strategy.

scholarly journals A Novel Strategy Based on Linear Active Disturbance Rejection Control for Harmonic Detection and Compensation in Low Voltage AC Microgrid

Energies ◽  
2019 ◽  
Vol 12 (20) ◽  
pp. 3982 ◽  
Author(s):  
Hui Li ◽  
Shuang Li ◽  
Junwei Lu ◽  
Yue Qu ◽  
Chenmu Guo
Keyword(s):  
Disturbance Rejection ◽  
Low Voltage ◽  
Active Disturbance Rejection Control ◽  
Harmonic Detection ◽  
Nonlinear Loads ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Ac Microgrid

In an AC microgrid, harmonic distortion is mainly caused by power electronic equipment and nonlinear loads. In this paper, linear active disturbance rejection control (LADRC) is used to control the fundamental current at the point of common coupling (PCC). Meanwhile, an active power filter (APF) is added to eliminate the harmonic current generated by the nonlinear loads. The tracking differentiator (TD) in active disturbance rejection control (ADRC) serves as a low-pass filter (LPF) in the harmonic detection algorithm of APF. Compared to traditional harmonic detection algorithms, the improved strategy solves the contradiction between rapidity, accuracy, and overshoot of filtering. LADRC has good performance of disturbance rejection, internal decoupling, and accessible parameters tuning. It can observe the internal uncertainty and external disturbance of the system as the total disturbance through the extended state observer (ESO), and compensate it in time through state feedback to make the system achieve the desired performance. The abilities of resonance suppression for LCL-type filter and internal decoupling of LADRC demonstrates its advantages through frequency domain analysis and simulation. The proposed strategy was simulated in MATLAB/SIMULINK and realized in the experimental hardware platform, and the effectiveness of the proposed strategy is approved.

scholarly journals A Disturbance Rejection Control Strategy of a Single Converter Hybrid Electrical System Integrating Battery Degradation

Energies ◽  
2020 ◽  
Vol 13 (11) ◽  
pp. 2781
Author(s):  
Yue Zhou ◽  
Hussein Obeid ◽  
Salah Laghrouche ◽  
Mickael Hilairet ◽  
Abdesslem Djerdir
Keyword(s):  
Power System ◽  
Hybrid System ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Pass Filter ◽  
Hybrid Power System ◽  
Hybrid Power ◽  
Disturbance Rejection Control ◽  
Cubature Kalman Filter ◽  
Dc Bus

In order to improve the durability and economy of a hybrid power system composed of a battery and supercapacitors, a control strategy that can reduce fluctuations of the battery current is regarded as a significant tool to deal with this issue. This paper puts forwards a disturbance rejection control strategy for a hybrid power system taking into account the degradation of the battery. First, the degradation estimation of the battery is done by the model-driven method based on the degradation model and Cubature Kalman Filter (CKF). Considering the transient and sinusoidal disturbance from the load in such a hybrid system, it is indispensable to smooth the behavior of the battery current in order to ensure the lifespan of the battery. Moreover, the constraints for the hybrid system should be considered for safety purposes. In order to deal with these demands, a cascaded voltage control loop based on a super twisting controller and proportional integral controller with an anti-windup scheme is designed for regulating the DC bus voltage in an inner voltage loop and supercapacitors’ voltage in an outer voltage loop, respectively. The specific feature of the proposed control method is that it operates like a low-pass filter so as to reduce the oscillations on the DC bus.

scholarly journals Sliding Mode Robust Active Disturbance Rejection Control for Single-Link Flexible Arm with Large Payload Variations

Electronics ◽  
2021 ◽  
Vol 10 (23) ◽  
pp. 2995
Author(s):  
Fan Wang ◽  
Peng Liu ◽  
Feng Jing ◽  
Bo Liu ◽  
Wei Peng ◽  
...  
Keyword(s):  
Robust Control ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Active Disturbance Rejection Control ◽  
Outer Loop ◽  
Active Disturbance Rejection ◽  
Flexible Arm ◽  
Disturbance Rejection Control ◽  
Control Scheme ◽  
Single Link

This paper proposes a novel robust control scheme for tip trajectory tracking of a lightweight flexible single-link arm. The developed control scheme deals with the influence of tip payload changes and disturbances during the working process of the flexible arm, thus realizing the accurate tracking for the tip reference trajectory. The robust control scheme is composed of an inner loop and an outer loop. The inner loop adopts the traditional PD control, and an active disturbance rejection control (ADRC) with a sliding mode (SM) compensation is designed in the outer loop. Moreover, the sliding mode compensation is mainly used to cope with the disturbance estimation error from the extended state observer (ESO), by which the insensitivity to tip payload variations and strong disturbance resistance is achieved. Finally, some numerical simulations are performed to support the theoretical analysis. The results show that the system is more robust to the tip mass variations of the arm and more resistant to the external torque after adding the sliding mode robustness term to the ADRC.

scholarly journals Model-free active input–output feedback linearization of a single-link flexible joint manipulator: An improved active disturbance rejection control approach

2020 ◽  
pp. 002029402091717 ◽  
Author(s):  
Wameedh Riyadh Abdul-Adheem ◽  
Ibraheem Kasim Ibraheem ◽  
Amjad J Humaidi ◽  
Ahmad Taher Azar
Keyword(s):  
Output Feedback ◽  
Disturbance Rejection ◽  
Feedback Linearization ◽  
Active Disturbance Rejection Control ◽  
Input Output ◽  
Model Free ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Nonlinear Extended State Observer ◽  
Flexible Joint Manipulator

Traditional input–output feedback linearization requires full knowledge of system dynamics and assumes no disturbance at the input channel and no system’s uncertainties. In this paper, a model-free active input–output feedback linearization technique based on an improved active disturbance rejection control paradigm is proposed to design feedback linearization control law for a generalized nonlinear system with a known relative degree. The linearization control law is composed of a scaled generalized disturbance estimated by an improved nonlinear extended state observer with saturation-like behavior and the nominal control signal produced by an improved nonlinear state error feedback. The proposed active input–output feedback linearization cancels in real-time fashion the generalized disturbances which represent all the unwanted dynamics, exogenous disturbances, and system uncertainties and transforms the system into a chain of integrators up to the relative degree of the system, which is the only information required about the nonlinear system. Stability analysis has been conducted based on the Lyapunov functions and revealed the convergence of the improved nonlinear extended state observer and the asymptotic stability of the closed-loop system. Verification of the outcomes has been achieved by applying the proposed active input–output feedback linearization technique on the single-link flexible joint manipulator. The simulations results validated the effectiveness of the proposed active input–output feedback linearization tool based on improved active disturbance rejection control as compared to the conventional active disturbance rejection control–based active input–output feedback linearization and the traditional input–output feedback linearization techniques.

scholarly journals Control robusto de la actitud para el seguimiento de trayectoria de un VANT

2020 ◽  
pp. 35-41
Author(s):  
Juan Diaz-Tellez ◽  
Jaime Estevez-Carreón ◽  
Alejandro Silva-Juárez ◽  
Rubén Senén García-Ramírez
Keyword(s):  
Disturbance Rejection ◽  
Tracking Control ◽  
Control Law ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Attitude Tracking ◽  
Exogenous Disturbances ◽  
Attitude Tracking Control ◽  
The Stability ◽  
And Control

This paper proposes a robust attitude tracking control applied to Vertical Take-off and Landing Micro Aerial Vehicles (VANT) based on Active Disturbance Rejection Control (ADRC) approach. The proposed technique groups the endogenous and exogenous disturbances into a total disturbance, which is estimated online via extended state observer (ESO). Once the disturbance is determined, a quaternion-based controller is proposed, which compensates and relieves the disturbance actively. The control law is bounded; consequently, it takes into account the maximum capabilities of the actuators. The stability proof of the closed-loop (observer and control) is guaranteed in the ISS sense. The simulation results allow validating the theoretical features.

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