scholarly journals Decoupling Attitude Control of a Hypersonic Glide Vehicle Based on a Nonlinear Extended State Observer

2020 ◽  
Vol 2020 ◽  
pp. 1-11 ◽  
Author(s):  
Jian Chen ◽  
Nannan Du ◽  
Yu Han
Keyword(s):  
Attitude Control ◽  
Closed Loop ◽  
Control Method ◽  
Tracking Error ◽  
State Observer ◽  
Extended State Observer ◽  
Decoupling Control ◽  
Extended State ◽  
Loop Control ◽  
Nonlinear Extended State Observer

Aiming at solving the attitude control problem of a hypersonic glide vehicle, this paper proposes a decoupling control method based on a nonlinear extended state observer (NESO). According to the decentralized robust control theory of Tornambè, the coupling terms and the uncertainties are regarded as generalized uncertainties, and the NESO-based estimation and compensation signals are added to the closed-loop control law. The theoretical deduction proves that the proposed method can ensure that the tracking error of the closed-loop system is uniformly bounded. The simulation is carried out on the hypersonic glide vehicle model and compared with the traditional subchannel feedback control method. The simulation results show that the designed decoupling control method has superior control performances, and the influence of channel-coupling and uncertainty is compensated to a great extent.

scholarly journals Attitude control for the rigid spacecraft with the improved extended state observer

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Yuteng Cao ◽  
Qi Liu ◽  
Guiqin He ◽  
Qiuling Zhao ◽  
Fang Liu
Keyword(s):  
Sliding Mode Control ◽  
Rigid Body ◽  
Attitude Control ◽  
Control Method ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Solar Array ◽  
Extended State ◽  
Rigid Spacecraft

Abstract In this article, a three-axis attitude manoeuvre spacecraft consisting of a central rigid body and a rotating solar array is studied. The rotating solar array is considered a disturbance to the spacecraft. In the design of the controller, the coupled terms and the rotating solar array are considered a disturbance. The improved extended state observer is proposed by combing the sliding mode observer with the originally extended state observer to estimate the disturbance. The sliding mode control method is adopted to adjust the attitude of the spacecraft. Numerical simulations are presented to demonstrate the outstanding performance of the present observer.

scholarly journals Iterative Learning Control with Extended State Observer for Telescope System

2015 ◽  
Vol 2015 ◽  
pp. 1-8 ◽  
Author(s):  
Huaxiang Cai ◽  
Yongmei Huang ◽  
Junfeng Du ◽  
Tao Tang ◽  
Dan Zuo ◽  
...  
Keyword(s):  
Iterative Learning Control ◽  
Control Method ◽  
Tracking Error ◽  
Learning Control ◽  
State Observer ◽  
Iterative Learning ◽  
Extended State Observer ◽  
Extended State ◽  
Nonlinear Disturbances ◽  
Telescope System

An Iterative Learning Control (ILC) method with Extended State Observer (ESO) is proposed to enhance the tracking precision of telescope. Telescope systems usually suffer some uncertain nonlinear disturbances, such as nonlinear friction and unknown disturbances. Thereby, to ensure the tracking precision, the ESO which can estimate system states (including parts of uncertain nonlinear disturbances) is introduced. The nonlinear system is converted to an approximate linear system by making use of the ESO. Besides, to make further improvement on the tracking precision, we make use of the ILC method which can find an ideal control signal by the process of iterative learning. Furthermore, this control method theoretically guarantees a prescribed tracking performance and final tracking accuracy. Finally, a few comparative experimental results show that the proposed control method has excellent performance for reducing the tracking error of telescope system.

scholarly journals Composite Decoupling Control of PMSM Based on Extended State Observer

2021 ◽  
Vol 2137 (1) ◽  
pp. 012003
Author(s):  
Hongliang Yan ◽  
Yan Geng ◽  
Weizhi Zhai
Keyword(s):  
Control Method ◽  
Voltage Drop ◽  
Permanent Magnet Synchronous Motor ◽  
State Observer ◽  
Extended State Observer ◽  
Decoupling Control ◽  
Current Loop ◽  
Extended State ◽  
Decoupling Method ◽  
Dynamic Decoupling

Abstract In order to solve the problem that the dynamic decoupling performance of the traditional decoupling method is reduced due to the parameter disturbance of permanent magnet synchronous motor (PMSM), a composite decoupling control method based on extended state observer (ESO) is proposed in this paper. In this method, voltage drop across stator resistance, cross coupling terms, internal uncertains and external load torque are taken as disturbances. The disturbance is observed in real time by using the extended state observer and compensated to the output end of the current controller, so as to realize the current decoupling control of the system and achieve the purpose of precise control of the current loop. The results of theoretical analysis show and simulation show that the composite decoupling control strategy based on extended state observer has better dynamic decoupling effect.

scholarly journals Extended-State-Observer-Based Super Twisting Control for Pneumatic Muscle Actuators

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 35
Author(s):  
Yu Cao ◽  
Zhongzheng Fu ◽  
Mengshi Zhang ◽  
Jian Huang
Keyword(s):  
Control Method ◽  
Experimental Studies ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Pneumatic Muscle ◽  
System States ◽  
The Stability ◽  
Twisting Control ◽  
Muscle Actuators

This paper presents a tracking control method for pneumatic muscle actuators (PMAs). Considering that the PMA platform only feedbacks position, and the velocity and disturbances cannot be observed directly, we use the extended-state-observer (ESO) for simultaneously estimating the system states and disturbances by using measurable variables. Integrated with the ESO, a super twisting controller (STC) is design based on estimated states to realize the high-precision tracking. According to the Lyapunov theorem, the stability of the closed-loop system is ensured. Simulation and experimental studies are conducted, and the results show the convergence of the ESO and the effectiveness of the proposed method.

Stable control of the high-speeding magnetically suspended rotor based on extended state observer and two-degree freedom internal model control for control moment gyros with serious moving-gimbal effects

2020 ◽  
Vol 42 (14) ◽  
pp. 2733-2743
Author(s):  
Jiqiang Tang ◽  
Tongkun Wei ◽  
Qichao Lv ◽  
Xu Cui
Keyword(s):  
Internal Model ◽  
Feedback Linearization ◽  
Control Method ◽  
Fast Response ◽  
State Observer ◽  
Internal Model Control ◽  
Extended State Observer ◽  
Extended State ◽  
Control Moment ◽  
Model Control

For a magnetically suspended control moment gyro (MSCMG), which is an ideal attitude actuator for its large outputting control moment and fast response, the moving-gimbal effects due to the coupling between the moving gimbal and high-speeding rotor will make the magnetically suspended rotor (MSR) unstable. To improve control precision, both the dynamic model of MSR and the feedback linearization control are done to decouple tilting motion, and poles of the system are reconfigured to reduce control error. To suppress the varying disturbance moments caused by moving-gimbal effects, an extended state observer (ESO) is originally designed to estimate and compensate them timely and accurately. To improve system robustness, a two-degree freedom internal model control (2-DOF IMC) is researched to suppress model error. Compared with existing proportional integral derivative (PID) control method, simulations done on a single gimbal MSCMG with 200 N.m.s angular momentum indicated that this presented control method with ESO and 2-DOF IMC can suppress the moving-gimbal effects more effectively and make the rotor suspension more stable.

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