A lateral control strategy for unmanned ground vehicles with model predictive control and active disturbance rejection control

2021 ◽  
pp. 014233122110253
Author(s):  
Zhiqiang Zuo ◽  
Mengjia Yang ◽  
Haoyu Wang ◽  
Yijing Wang ◽  
Li Wang ◽  
...  
Keyword(s):  
Predictive Control ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
State Observer ◽  
Extended State Observer ◽  
Ground Vehicles ◽  
Extended State ◽  
Lateral Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

This paper presents a lateral control strategy with kinematic state error model-based predictive control and extended state observer for unmanned ground vehicles. Firstly, we propose a circular arc prediction technique to calculate the state of the reference system. Then, inspired by the idea of active disturbance rejection control, an extended state observer is utilized to estimate the value of the total disturbance caused by modeling uncertainties, external disturbance, and other factors in order to compensate model error. Finally, we propose a lateral controller that combines model-based prediction with extended state observer through state feedback to achieve precise trajectory tracking. The performance of the proposed control strategy is demonstrated by a co-simulation between CarSim and MATLAB/Simulink.

Control system of the six-axis serial manipulator based on active disturbance rejection control

2020 ◽  
Vol 17 (4) ◽  
pp. 172988142093947
Author(s):  
Xing Li ◽  
Bingyou Liu ◽  
Lichao Wang
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
State Observer ◽  
Extended State Observer ◽  
Active Disturbance Rejection Control ◽  
Extended State ◽  
Parameter Uncertainties ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

This study considers the problems of manipulators with high coupling, parameter uncertainties, and external disturbances. A six-axis serial manipulator control system based on active disturbance rejection control strategy is proposed without the requirement of the exact dynamic model. First, the operating circuit of the manipulator joint motor is analyzed, and the mathematical model of the direct-current torque motor is established. Second, the components of active disturbance rejection control are designed, and a new nonlinear function is selected to construct the extended state observer and nonlinear state error feedback control law. Then, Kalman filter is introduced into an extended state observer to estimate the disturbance efficiently. Finally, the proportion–integration–differentiation control, traditional active disturbance rejection control, and improved active disturbance rejection control are simulated and compared under the same input signal. The results show that the proposed control strategy has good dynamic performance and uncertain disturbance robustness, which proves the effectiveness of the proposed method.

Active disturbance rejection control strategy for airborne radar stabilization platform based on cascade extended state observer

2020 ◽  
Vol 40 (4) ◽  
pp. 613-624
Author(s):  
Dong Mei ◽  
Zhu-Qing Yu
Keyword(s):  
Control Strategy ◽  
Disturbance Rejection ◽  
Output Signal ◽  
Extended State Observer ◽  
Airborne Radar ◽  
Active Disturbance Rejection Control ◽  
Extended State ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Purpose This paper aims to improve the anti-interference ability of the airborne radar stabilization platform, especially the ability to suppress continuous disturbance under complex air conditions to ensure the clarity and stability of airborne radar imaging. Design/methodology/approach This paper proposes a new active disturbance rejection control (ADRC) strategy based on the cascade extended state observer (ESO) for airborne radar stabilization platform, which adopts two first-order ESOs to estimate the angular velocity value and the angular position value of the stabilized platform. Then makes the error signal which subtracts the estimated value of ESO from the output signal of the tracking-differentiator as the input signal of the nonlinear state error feedback (NLSEF), and according to the output signal of the NLSEF and the value which dynamically compensated the total disturbances estimated by the two ESO to produce the final control signal. Findings The simulation results show that, compared with the classical ADRC, the ADRC based on the cascade ESO not only estimates the unknown disturbance more accurately but also improves the delay of disturbance observation effectively due to the increase of the order of the observer. In addition, compared with the classical PID control and the classical ADRC, it has made great progress in response performance and anti-interference ability, especially in the complex air conditions. Originality/value The originality of the paper is the adoption of a new ADRC control strategy based on the cascade ESO to ameliorate the anti-interference ability of the airborne radar stabilization platform, especially the ability to suppress continuous interference under complex air conditions.

Decoupled disturbance rejection control for a turbocharged engine with a dual-loop exhaust gas recirculation system

2017 ◽  
Vol 232 (5) ◽  
pp. 599-615
Author(s):  
Song Chen ◽  
Fengjun Yan
Keyword(s):  
Disturbance Rejection ◽  
Exhaust Gas Recirculation ◽  
State Observer ◽  
Extended State Observer ◽  
Intake Manifold ◽  
Exhaust Gas ◽  
Extended State ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Gas Recirculation

Dual-loop exhaust gas recirculation with a variable-geometry turbocharger is an effective architecture for achieving desired intake manifold conditions, such as the temperature, the pressure and the oxygen concentration of the intake manifold, which have critical roles in advanced combustion mode control. However, the widely used control-oriented model is derived on the basis that the heat transfer between the pipes and the gas is negligible, which means that it suffers from non-trivial errors. Simulation results show that other error sources, including the volumetric efficiency and the orifice equation, are difficult to calibrate accurately and also cause significant errors in the system, particularly in transient situations. Modified active disturbance rejection control with an extended state observer is utilized to deal with the non-linear, multiple-input multiple-output system in this paper. It is demonstrated that the performance of active disturbance rejection control mainly depends on the performance of the extended state observer. In this paper, an extended state observer, which is based on the sliding-mode concept rather than the conventional linear observer, is introduced. By taking advantage of its strong robustness, the system is decoupled into three loops. For each loop, the internal errors and the external errors, including the modelling error and the coupling effects, are lumped into one term; they are then actively estimated and cancelled out by the control input in real time. The proposed method was validated using calibrated GT-Power model simulations.

Spatial trajectory tracking control for unmanned airships based on active disturbance rejection control

2018 ◽  
Vol 233 (6) ◽  
pp. 2231-2240 ◽  
Author(s):  
Wenjie Lou ◽  
Ming Zhu ◽  
Xiao Guo
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
State Observer ◽  
Extended State Observer ◽  
Active Disturbance Rejection Control ◽  
Extended State ◽  
Tracking Differentiator ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Spatial Trajectory

In this paper, to address the spatial trajectory tracking problem of unmanned airships, a robust controller based on active disturbance rejection control is presented. By transforming the airship model to a standardized form, a straightforward design approach is adopted for the design of the controller. Active disturbance rejection control is composed of a tracking differentiator, an extended state observer, and a nonlinear state error feedback. The proposed controller replaces the conventional tracking differentiator with a third-order differentiator. The new tracking differentiator provides higher tracking precision and smoother transient process. The external disturbances and model uncertainties are observed by the extended state observer and compensated in the controller design, subsequently. Comparisons with technologies frequently used in the trajectory tracking are made through numerical simulation. The comparisons validate that the proposed controller provides satisfying performance and robustness in the presence of model uncertainty and external disturbance.

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