scholarly journals Disturbance Observer-Based Integral Backstepping Control for a Two-Tank Liquid Level System Subject to External Disturbances

2020 ◽  
Vol 2020 ◽  
pp. 1-22 ◽  
Author(s):  
Xiangxiang Meng ◽  
Haisheng Yu ◽  
Herong Wu ◽  
Tao Xu
Keyword(s):  
Control Strategy ◽  
Disturbance Observer ◽  
Control Method ◽  
Sliding Mode ◽  
Mass Conservation ◽  
Backstepping Control ◽  
Liquid Level ◽  
Level System ◽  
External Disturbances ◽  
Simulation And Experiment

A novel method of disturbance observer-based integral backstepping control is proposed for the two-tank liquid level system with external disturbances. The problem of external disturbances can be settled in this paper. Firstly, the mathematical model of the two-tank liquid level system is established based on fluid mechanics and principle of mass conservation. Secondly, an integral backstepping control strategy is designed in order to ensure liquid level tracking performance by making the tracking errors converge to zero in finite time. Thirdly, a disturbance observer is designed for the two-tank liquid level system with external disturbances. Finally, the validity of the proposed method is verified by simulation and experiment. By doing so, the simulation and experimental results prove that the scheme of disturbance observer-based integral backstepping control strategy can suppress external disturbances more effective than the disturbance observer-based sliding mode control method and has better dynamic and steady performance of the two-tank liquid level system.

scholarly journals Design of Composite Disturbance Observer and Continuous Terminal Sliding Mode Control for Piezoelectric Nanopositioning Stage

Electronics ◽  
2021 ◽  
Vol 10 (18) ◽  
pp. 2242
Author(s):  
Pengyu Qiao ◽  
Jun Yang ◽  
Chen Dai ◽  
Xi Xiao
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Accurate Estimation ◽  
Terminal Sliding Mode Control ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Composite Control ◽  
Mode Control

The nonlinearities of piezoelectric actuators and external disturbances of the piezoelectric nanopositioning stage impose great, undesirable influences on the positioning accuracy of nanopositioning stage systems. This paper considers nonlinearities and external disturbances as a lumped disturbance and designs a composite control strategy for the piezoelectric nanopositioning stage to realize ultra-high precision motion control. The proposed strategy contains a composite disturbance observer and a continuous terminal sliding mode controller. The composite disturbance observer can estimate both periodic and aperiodic disturbances so that the composite control strategy can deal with the disturbances with high accuracy. Meanwhile, the continuous terminal sliding mode control is employed to eliminate the chattering phenomenon and speed up the convergence rate. The simulation and experiment results show that the composite control strategy achieves accurate estimation of different forms of disturbances and excellent tracking performance.

Tracking Control Design for Quadrotor Unmanned Aerial Vehicle

2017 ◽  
Vol 67 (3) ◽  
pp. 245 ◽  
Author(s):  
Sudhir Nadda ◽  
A. Swarup
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Control Strategy ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Backstepping Control ◽  
Control Technique ◽  
Quadrotor Uav ◽  
Attitude Tracking ◽  
Aerial Vehicle

The model of a quadrotor unmanned aerial vehicle (UAV) is nonlinear and dynamically unstable. A flight controller design is proposed on the basis of Lyapunov stability theory which guarantees that all the states remain and reach on the sliding surfaces. The control strategy uses sliding mode with a backstepping control to perform the position and attitude tracking control. This proposed controller is simple and effectively enhance the performance of quadrotor UAV. In order to demonstrate the robustness of the proposed control method, White Gaussian Noise and aerodynamic moment disturbances are taken into account. The performance of the nonlinear control method is evaluated by comparing the performance with developed linear quadratic regulator and existing backstepping control technique and proportional-integral-derivative from the literature. The comparative performance results demonstrate the superiority and effectiveness of the proposed control strategy for the quadrotor UAV.

Disturbance observer–based fixed-time robust control for constrained air-breathing hypersonic vehicle

2021 ◽  
pp. 095965182110652
Author(s):  
Jicheng Liu ◽  
Ju Jiang ◽  
Chaojun Yu ◽  
Bing Han
Keyword(s):  
Robust Control ◽  
Feedback Linearization ◽  
Disturbance Observer ◽  
Control Method ◽  
Sliding Mode ◽  
Uniform Boundedness ◽  
Fixed Time ◽  
External Disturbances ◽  
Simulation Experiments ◽  
Sliding Surfaces

This article studies the fixed-time robust control problem for the longitudinal dynamics of hypersonic vehicles in the presence of parametric uncertainties, external disturbances and input constraints. First, the dynamic model is transformed into two fourth-order integral chain subsystems by feedback linearization technology. Four novel fast integrating sliding surfaces are designed for each subsystem to guarantee the fixed time convergence of the errors and the derivatives. The double power reaching law is investigated to accelerate the convergence of sliding surfaces. Furthermore, the fixed-time disturbance observer technique is applied to estimate the lumped disturbance precisely. A novel fixed-time anti-saturation auxiliary system is designed to tackle the saturation caused by constraints of actuators. Then the semi-global uniform boundedness of the closed-loop system in a fixed time is proved by Lyapunov’s stability theory. Finally, comparison simulation experiments with the existing higher order sliding mode control method are carried out to verify the proposed method’s effectiveness and superiority.

Part 1: robust adaptive control of quadrotor with disturbance observer

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Nigar Ahmed ◽  
Abid Raza ◽  
Rameez Khan
Keyword(s):  
Adaptive Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Sliding Mode ◽  
External Disturbance ◽  
Robust Adaptive Control ◽  
External Disturbances ◽  
Content Type ◽  
Control Objective ◽  
Robust Adaptive

Purpose The aim of this paper is to design a nonlinear disturbance observer-based control (DOBC) method obtained by patching a control method developed using a robust adaptive technique and a DO. Design/methodology/approach For designing a DOBC, initially a class of nonlinear system is considered with an external disturbance. First, a DO is designed to estimate the external disturbances. This estimate is combined with the controller to reject the disturbances and obtain the desired control objective. For designing a controller, the robust sliding mode control theory is used. Furthermore, instead of using a constant switching gain, an adaptive gain tuning criterion is designed using Lyapunov candidate function. To investigate the stability and effectiveness of the developed DOBC, stability analysis and simulation study are presented. Findings The major findings of this paper include the criteria of designing the robust adaptive control parameters and investigating the disturbance rejection when robust adaptive control based DOBC is developed. Practical implications In practice, the flight of quadrotor is affected by different kind of external disturbances, thus leading to the change in dynamics. Hence, it is necessary to design DOBCs based on robust adaptive controllers such that the quadrotor model adapts to the change in dynamics, as well as nullify the effect of disturbances. Originality/value Designing DOBCs based on robust control method is a common practice; however, the robust adaptive control method is rarely developed. This paper contributes in the domain of DOBC based on robust adaptive control methods such that the behavior of controller varies with the change in dynamics occurring due to external disturbances.

scholarly journals Optimal Adaptive Control and Backstepping Control Method with Sliding Mode Differentiator

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Shengxin Sun ◽  
Yang Zhao ◽  
Hao Wu
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Operation Time ◽  
Backstepping Control ◽  
Space Robot ◽  
Robot Arm ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Time Control

In order to improve the success rate of space debris object capture, how to increase the resistance to interference in the space robot arm has become an issue of interest. In addition, since the space operation time is always limited, finite-time control has become another urgent requirement needed to be addressed. Considering external disturbances, two control methods are proposed in this paper to solve the control problem of space robot arm. Firstly, a linear sliding mode control method is proposed considering the model uncertainties and external disturbances. The robot arm can track the desired trajectory, while a trade-off between optimality and robustness of the solved system can be achieved. Then, in order to reduce conservativeness and relax restrictions on external disturbances, a novel backstepping control method based on a finite-time integral sliding mode disturbance observer is developed, which compensates for the effects of both model uncertainties and infinite energy-based disturbance inputs. Finally, simulation examples are given to illustrate the effectiveness of the proposed control method.

Robust finite-time trajectory tracking control for a space manipulator with parametric uncertainties and external disturbances

2021 ◽  
pp. 095441002110147
Author(s):  
Qijia Yao
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Space Manipulator ◽  
Tracking Controller

Space manipulator is considered as one of the most promising technologies for future space activities owing to its important role in various on-orbit serving missions. In this study, a robust finite-time tracking control method is proposed for the rapid and accurate trajectory tracking control of an attitude-controlled free-flying space manipulator in the presence of parametric uncertainties and external disturbances. First, a baseline finite-time tracking controller is designed to track the desired position of the space manipulator based on the homogeneous method. Then, a finite-time disturbance observer is designed to accurately estimate the lumped uncertainties. Finally, a robust finite-time tracking controller is developed by integrating the baseline finite-time tracking controller with the finite-time disturbance observer. Rigorous theoretical analysis for the global finite-time stability of the whole closed-loop system is provided. The proposed robust finite-time tracking controller has a relatively simple structure and can guarantee the position and velocity tracking errors converge to zero in finite time even subject to lumped uncertainties. To the best of the authors’ knowledge, there are really limited existing controllers can achieve such excellent performance under the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control method.

Constant force control for aluminum wheel hub grinding based on ESO + backstepping

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Shijie Dai ◽  
Yufeng Zhao ◽  
Wenbin Ji ◽  
Jiaheng Mu ◽  
Fengbao Hu
Keyword(s):  
Control Strategy ◽  
Force Control ◽  
Control Method ◽  
Response Speed ◽  
Backstepping Control ◽  
Constant Force ◽  
Content Type ◽  
Disturbance Rejection Control ◽  
The Stability ◽  
Differential Control

Purpose This paper aims to present a control method to realize the constant force grinding of automobile wheel hub. Design/methodology/approach A constant force control strategy combined by extended state observer (ESO) and backstepping control is proposed. ESO is used to estimate the total disturbance to improve the anti-interference and stability of the system and Backstepping control is used to improve the response speed of the system. Findings The simulation and grinding experimental results show that, compared with the proportional integral differential control and active disturbance rejection control, the designed controller can improve the dynamic response performance and anti-interference ability of the system and can quickly track the expected force and improve the grinding quality of the hub surface. Originality/value The main contribution of this paper lies in the proposed of a new constant force control strategy, which significantly improved the stability and precision of grinding force.

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