Active disturbance rejection controller design for stable walking of a compass-like biped

2017 ◽  
Vol 40 (14) ◽  
pp. 4063-4077 ◽  
Author(s):  
Sumian Song ◽  
Chong Tang ◽  
Zidong Wang ◽  
Gangfeng Yan
Keyword(s):  
Control Strategy ◽  
Disturbance Rejection ◽  
Control Method ◽  
Controller Design ◽  
External Disturbance ◽  
Biped Robots ◽  
Walking Gait ◽  
Active Disturbance Rejection ◽  
Coordinate Control ◽  
High Efficient

This paper aims to develop an active disturbance rejection controller design scheme for compass-like biped robots. In the previous study, with a special designed mechanical structure on compass-like biped, we have generated a high-efficient walking gait. The original controller applied linearization approximation based on the method transverse coordinate control, with which the ability of disturbance rejection is insufficient. We introduce the active disturbance rejection controller method into the control scheme, which only requires the information of angular momentum and has the ability to compensate the model error and the external disturbance. With the new control strategy, the linearization approximation method is replaced by an active disturbance rejection controller and the robustness is improved. In order to further apply this control method, a switching control strategy has been proposed and a series of numerical simulations show that active disturbance rejection controller has a good disturbance rejection effect.

Stability control for end effect of mobile manipulator in uneven terrain based on active disturbance rejection control

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Chuang Cheng ◽  
Hui Zhang ◽  
Hui Peng ◽  
Zhiqian Zhou ◽  
Bailiang Chen ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
External Disturbance ◽  
Stability Control ◽  
Mobile Manipulator ◽  
Active Disturbance Rejection Control ◽  
End Effector ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Purpose When the mobile manipulator is traveling on an unconstructed terrain, the external disturbance is generated. The load on the end of the mobile manipulator will be affected strictly by the disturbance. The purpose of this paper is to reject the disturbance and keep the end effector in a stable pose all the time, a control method is proposed for the onboard manipulator. Design/methodology/approach In this paper, the kinematics and dynamics models of the end pose stability control system for the tracked robot are built. Through the guidance of this model information, the control framework based on active disturbance rejection control (ADRC) is designed, which keeps the attitude of the end of the manipulator stable in the pitch, roll and yaw direction. Meanwhile, the control algorithm is operated with cloud computing because the research object, the rescue robot, aims to be lightweight and execute work with remote manipulation. Findings The challenging simulation experiments demonstrate that the methodology can achieve valid stability control performance in the challenging terrain road in terms of robustness and real-time. Originality/value This research facilitates the stable posture control of the end-effector of the mobile manipulator and maintains it in a suitable stable operating environment. The entire system can normally work even in dynamic disturbance scenarios and uncertain nonlinear modeling. Furthermore, an example is given to guide the parameter tuning of ADRC by using model information and estimate the unknown internal modeling uncertainty, which is difficult to be modeled or identified.

Automated steering controller design for vehicle lane keeping combining linear active disturbance rejection control and quantitative feedback theory

2018 ◽  
Vol 232 (7) ◽  
pp. 937-948 ◽  
Author(s):  
Zhengrong Chu ◽  
Christine Wu ◽  
Nariman Sepehri
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Controller Design ◽  
Active Disturbance Rejection Control ◽  
Quantitative Feedback Theory ◽  
Steering Control ◽  
Parameter Uncertainties ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Lane Keeping

In this article, a new automated steering control method is presented for vehicle lane keeping. This method is a combination between the linear active disturbance rejection control and the quantitative feedback theory. The structure of the steering controller is first determined based on the linear active disturbance rejection control, then the controller is tuned in the framework of the quantitative feedback theory to meet the prescribed design specifications on sensitivity and closed-loop stability. The parameter uncertainties of the vehicle system are considered at the tuning stage. The proposed steering controller is simulated and tested on a scale vehicle. Both the simulation and experimental results demonstrate that the scale vehicle controlled by the proposed controller is able to perform the lane keeping. In the experiments, the lateral offset between the scale vehicle and the road centerline is regulated within the acceptable ranges of ±0.03 m during straight lane keeping and ±0.15 m during curved lane keeping. The proposed controller is easy to be implemented and is simple without requiring complex calculations and measurements of vehicle states. Simulations also show that the control method can be implemented on a full-scale vehicle.

scholarly journals Design of active disturbance rejection controller for compass-like biped walking

2018 ◽  
Vol 15 (3) ◽  
pp. 172988141877684 ◽  
Author(s):  
Sumian Song ◽  
Chong Tang ◽  
Zidong Wang ◽  
Yinan Wang ◽  
Gangfeng Yan
Keyword(s):  
Limit Cycle ◽  
Disturbance Rejection ◽  
Controller Design ◽  
Linear Time ◽  
Biped Robot ◽  
Transverse Coordinate ◽  
Linear Time Invariant ◽  
Active Disturbance Rejection ◽  
Unstable Limit Cycle ◽  
Coordinate Control

This article proposes an active disturbance rejection controller design scheme to stabilize the unstable limit cycle of a compass-like biped robot. The idea of transverse coordinate transformation is applied to form the control system based on angular momentum. With the linearization approximation, the limit cycle stabilization problem is simplified into the stabilization of an linear time-invariant system, which is known as transverse coordinate control. In order to solve the problem of poor adaptability caused by linearization approximation, we design an active disturbance rejection controller in the form of a serial system. With the active disturbance rejection controller, the system error can be estimated by extended state observer and compensated by nonlinear state error feedback, and the unstable limit cycle can be stabilized. The numerical simulations show that the control law enhances the performance of transverse coordinate control.

Active Disturbance Rejection Controller Design for Electric Vehicle Traction System

2014 ◽  
Vol 953-954 ◽  
pp. 1406-1412
Author(s):  
Yu Min Wang ◽  
Qing Fan
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Controller Design ◽  
Current Loop ◽  
Low Velocity ◽  
Brushless Dc ◽  
Tracking Differentiator ◽  
Active Disturbance Rejection ◽  
Traction System

In some low velocity electric vehicle system, Brushless DC motor is used for the main traction motor. However, the low-velocity stability should be guaranteed, especially with the suddenly-changing load, the velocity response should be more quick and the overshoot should be small, all of above can make the vehicle more comfortable. The traction system is controlled by a current loop and a velocity loop, so a new method is proposed, that PI control strategy is in the current loop and the active disturbance rejection controller is in the velocity loop to restrain the bad effect results from suddenly-changing load. This active disturbance rejection controller is composed of a tracking differentiator, an extended state observer, a nonlinear state error feedback controller, and etc. The parameters of the controller are optimally designed, and the simulation results show that this control strategy can effectively restrain the suddenly-changing load and improve the vehicle’s low velocity performance.

AUV’s Executer Fault-Tolerant Control Based on ADRC

2014 ◽  
Vol 1006-1007 ◽  
pp. 581-585 ◽  
Author(s):  
Lei Wan ◽  
Ying Hao Zhang ◽  
Yu Shan Sun ◽  
Yue Ming Li
Keyword(s):  
Control Strategy ◽  
Pid Control ◽  
Disturbance Rejection ◽  
Control Method ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Simulation Results ◽  
The One

An autonomous under vehicle (AUV) should have the ability of self-saving and finishing the certain targets when faults occur, which means that an AUV must have the ability of fault-tolerant control. In order to make it possible, one AUV’s fault-tolerant control strategy is made, which is based on the active disturbance rejection control (ADRC). In this paper, the control method in normal and the one in fault are offered respectively. Besides that, one simulation compared with PID control is made. The simulation results show the AUV’s fault-tolerant control strategy based on ADRC can achieve the goal and has better control results to restrain the shock, overshoot and other phenomena caused by disturbance than the strategy based on PID.

scholarly journals Adaptive Fuzzy Active-Disturbance Rejection Control-Based Reconfiguration Controller Design for Aircraft Anti-Skid Braking System

Actuators ◽  
2021 ◽  
Vol 10 (8) ◽  
pp. 201
Author(s):  
Zhao Zhang ◽  
Zhong Yang ◽  
Guoxing Zhou ◽  
Shuchang Liu ◽  
Dongsheng Zhou ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Controller Design ◽  
External Disturbance ◽  
Strong Nonlinearity ◽  
Active Disturbance Rejection Control ◽  
Adaptive Fuzzy ◽  
Braking System ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Reconfiguration Controller

The aircraft anti-skid braking system (AABS) is an essential aero electromechanical system to ensure safe take-off, landing, and taxiing of aircraft. In addition to the strong nonlinearity, strong coupling, and time-varying parameters in aircraft dynamics, the faults of actuators, sensors, and other components can also seriously affect the safety and reliability of AABS. In this paper, a reconfiguration controller-based adaptive fuzzy active-disturbance rejection control (AFADRC) is proposed for AABS to meet increased performance demands in fault-perturbed conditions as well as those concerning reliability and safety requirements. The developed controller takes component faults, external disturbance, and measurement noise as the total perturbations, which are estimated by an adaptive extended state observer (AESO). The nonlinear state error feedback (NLSEF) combined with fuzzy logic can compensate for the adverse effects and ensure that the faulty AABS maintains acceptable performance. Numerical simulations are carried out in different runway environments. The results validate the robustness and reconfiguration control capability of the proposed method, which improves AABS safety as well as braking efficiency.

Nonlinear Low Bias Current Control for Magnetic Bearing System Using Active Disturbance Rejection Technology

2021 ◽  
Author(s):  
Yichen Yao ◽  
Yixin Su ◽  
Suyuan Yu
Keyword(s):  
Control Strategy ◽  
Disturbance Rejection ◽  
Control Method ◽  
System Modeling ◽  
Magnetic Bearing ◽  
Bias Current ◽  
Current Control ◽  
Zero Bias ◽  
Active Disturbance Rejection ◽  
Bearing System

Abstract Magnetic bearing is widely used in helium-turbine circle of the high temperature gas-cooled reactor and many other highspeed rotating machinery because of its unique advantages in vibration and noise reduction. However, the power consumption of magnetic bearing increases its cost of use. Moreover, the design of magnetic bearing controller relies on accurate system modeling. All these restrict the industrial application of magnetic bearings. Based on the structure of the eight-pole magnetic bearing and its corresponding traditional decentralized differential PID control strategy, this paper proposes a magnetic bearing control framework including expected bearing force realization control strategy and centralized control strategy. Under this framework, a nonlinear low bias current control method for magnetic bearing system is given. Afterwards, an active disturbance rejection controller based on low(zero) bias current is proposed to compensate the gyroscopic disturbance and modeling uncertainty of the system. The controller can keep small loss of magnetic bearing and have good stability. It has a frame of active disturbance rejection control (ADRC) and its compensation performance is analyzed. In order to verify the effectiveness of the controller, a corresponding experimental verification is carried out on the test rig. The results show that the control strategy is effective.

scholarly journals Dynamic Landing Control of a Quadrotor on the Wave Glider

2021 ◽  
Vol 9 (10) ◽  
pp. 1119
Author(s):  
Zhilin Lyu ◽  
Weitao Ding ◽  
Xiujun Sun ◽  
Hongqiang Sang ◽  
Ying Zhou ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Position Control ◽  
Control Method ◽  
Search Algorithm ◽  
Control Volume ◽  
External Disturbance ◽  
Sea Trial ◽  
Active Disturbance Rejection ◽  
Wave Glider ◽  
The Stability

Aiming at the problems of difficult attitude stabilization, low landing accuracy, large external disturbance and slow dynamic response during the quadrotor dynamic landing on the wave glider, an improved series active disturbance rejection control method for the quadrotor is proposed. The quadrotor controller with inner-loop attitude angular velocity control and outer-loop position control based on the active disturbance rejection controller (ADRC) is designed by analyzing the dynamic model of the quadrotor. A tracking differentiator (TD) is adopted to track the input signal, and an expansive state observer (ESO) is used to estimate the total disturbance. Moreover, a nonlinear law state error feedback (NLSEF) is used to generate the virtual control volume of the system to realize the control of the quadrotor, and the stability of the cascaded self-turbulent controller is verified by Lyapunov’s theory. The simulation verifies that the proposed controller can accurately control the attitude and the position with better anti-interference capability and faster tracking speed. According to the final sea trial, a combination of an active disturbance rejection controller optimized with improved crow search algorithm (ICADRC) and April Tag visual reference system is used to land the quadrotor efficiently and successfully even under the surface float attitude uncertainty.

scholarly journals Active Disturbance Rejection Control for Double-Pump Direct-Driven Hydraulics

Proceedings ◽  
2020 ◽  
Vol 64 (1) ◽  
pp. 14
Author(s):  
Shuzhong Zhang ◽  
Angen Wu ◽  
Fuquan Dai
Keyword(s):  
Mathematical Model ◽  
State Space ◽  
Disturbance Rejection ◽  
Control Method ◽  
External Disturbance ◽  
Position Tracking ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Space Equation

As a result of the energy crisis and further development of the electro-hydraulic actuator, double-pump direct driven hydraulics (DDH) was brought forward, which mainly comprises a servo motor, double fixed displacement pumps, a differential cylinder, a low-pressurized tank and auxiliary valves. To address the problems caused by uncertain parameters and unknown external disturbances of DDH, this paper proposed a control method adopting active disturbance rejection control (ADRC). Firstly, a mathematical model, including a DDH unit and a micro-crane, was created and modelled in MATLAB/Simulink. Further, the model was verified by measurement. After that, the state-space equation model of the system was derived based on its mathematical model and a third-order ADRC was designed using the constructed system state-space equation. Additionally, tracking-differentiator (TD) was employed to process the input signal transiently to avoid unnecessary oscillations, and the extended state observer (ESO) was used to accurately estimate the influence of the uncertainty and compensate by nonlinear feedback control law (NFCL). Moreover, the proposed ADRC or Proportional–Integral–Differential (PID) control was combined with the mathematical model of a micro-crane. Finally, the simulations were performed under varying loads, and the system position tracking performance were analyzed and compared. The results show that the ADRC can sufficiently suppress the unknown external disturbance, has the advantages of robustness, and improves the position tracking precision.

scholarly journals Speed Control of PMSM Based on an Optimized ADRC Controller

2019 ◽  
Vol 2019 ◽  
pp. 1-18 ◽  
Author(s):  
YiBo Meng ◽  
BingYou Liu ◽  
LiChao Wang
Keyword(s):  
Optimal Control ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Control Method ◽  
Nonlinear Function ◽  
Active Disturbance Rejection Control ◽  
Optimal Control Strategy ◽  
External Interference ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Permanent-magnet synchronous motor (PMSM) is a nonlinear, multivariate, strongly coupled system with uncertain external interference. A general control method cannot meet system requirements. This study proposes an optimal control strategy based on active disturbance rejection control (ADRC) to achieve high-precision control of PMSM. First, interpolation fitting is used to construct a nonlinear function with improved continuity and derivative near the origin and segment points. Second, various components of active disturbance rejection control are constructed based on the new nonlinear function, which mainly improves the extended state observer and nonlinear state error feedback. Simulation results show that under similar parameters, the improved active disturbance rejection control has smaller overshoot, faster tracking capacity, and stronger anti-interference capability compared with traditional active disturbance rejection control. Finally, the optimized active disturbance rejection control is used in the motion control system of PMSM. Experimental results show that the proposed optimal control strategy is simple and has good control performance.

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