Fuzzy sliding mode based active disturbance rejection control for active suspension system

2019 ◽  
Vol 234 (2-3) ◽  
pp. 449-457
Author(s):  
Haoping Wang ◽  
Yeqing Lu ◽  
Yang Tian ◽  
Nicolai Christov
Keyword(s):  
Disturbance Rejection ◽  
Ride Comfort ◽  
Actuator Saturation ◽  
Sliding Mode ◽  
Suspension System ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Car Suspension ◽  
Disturbance Rejection Control ◽  
Fuzzy Sliding Mode

This article deals with the control problem of 7-degrees of freedom full-car suspension system which takes into account the spring-damper nonlinearities, unmodeled dynamics and external disturbances. The existing active disturbance rejection control uses an extended state observer to estimate the “total disturbance” and eliminate it with state error feedback. In this article, a new type of active disturbance rejection control is developed to improve the ride comfort of full car suspension systems taking into account the suspension nonlinearities and actuator saturation. The proposed controller combines active disturbance rejection control and fuzzy sliding mode control and is called Fuzzy Sliding Mode active disturbance rejection control. To validate the system mathematical model and analyze the controller performance, a virtual prototype is built in Adams. The simulation results demonstrate better performance of Fuzzy Sliding Mode active disturbance rejection control compared to the existing active disturbance rejection control.

Motion-based active disturbance rejection control for a non-linear full-car suspension system

2017 ◽  
Vol 232 (5) ◽  
pp. 616-631 ◽  
Author(s):  
Panshuo Li ◽  
James Lam ◽  
Kie Chung Cheung
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Reference Signal ◽  
Suspension System ◽  
Ride Quality ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Car Suspension ◽  
Disturbance Rejection Control ◽  
Non Linear

This paper investigates the vibration attenuation problem of a non-linear full-car suspension system and aims to stabilize the vehicle attitude to provide a good ride quality. First, with respect to heave motion, pitch motion and roll motion, the full-car suspension system is separated into three interconnected subsystems. For each subsystem, corresponding motion-based controllers are designed to attenuate the vibrations of the sprung mass. A non-linear tracking differentiator is used to track the reference signal and to obtain its derivative. An extended state observer is established to estimate the total disturbance, which includes all the uncertainties and the external disturbance. Based on the principle of active disturbance rejection control, proportional–derivative and fuzzy proportional–derivative controllers are designed to control the resulting linear system with total disturbance compensation. Finally, four actuator forces are computed online using the three motion-based controllers obtained. Simulations are carried out in different road conditions; the results illustrate the merits of the proposed control method.

Adaptive output-feedback robust active disturbance rejection control for uncertain quadrotor with unknown disturbances

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Nigar Ahmed ◽  
Syed Awais Ali Shah
Keyword(s):  
Output Feedback ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
The State ◽  
Active Disturbance Rejection Control ◽  
State Variables ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Attitude Model

PurposeIn this research paper, an adaptive output-feedback robust active disturbance rejection control (RADRC) is designed for the multiple input multiple output (MIMO) quadrotor attitude model subject to unwanted uncertainties and disturbances (UUDs).Design/methodology/approachIn order to achieve the desired control objectives in the presence of UUDs, the low pass filter (LPF) and extended high gain observer (EHGO) methods are used for the estimation of matched and mismatched UUDs, respectively. Furthermore, for solving the chattering incurred in the standard sliding mode control (SMC), a multilayer sliding mode surface is constructed. For formulating the adaptive output-feedback RADRC algorithm, the EHGO, LPF and SMC schemes are combined using the separation principle.FindingsThe findings of this research work include the design of an adaptive output-feedback RADRC with the ability to negate the UUDs as well as estimate the unknown states of the quadrotor attitude model. In addition, the chattering problem is addressed by designing a modified SMC scheme based on the multilayer sliding mode surface obtained by utilizing the estimated state variables. This sliding mode surface is also used to obtain the adaptive criteria for the switching design gain parameters involved in the SMC. Moreover, the requirement of high design gain parameters in the EHGO is solved by combining it with the LPF.Originality/valueDesigning the flight control techniques while assuming that the state variables are available is a common practice. In addition, to obtain robustness, the SMC technique is widely used. However, in practice, the state variables might not be available due to unknown parameters and uncertainties, as well as the chattering due to SMC reduces the performances of the actuators. Hence, in this paper, an adaptive output-feedback RADRC technique is designed to solve the problems of UUDs and chattering.

scholarly journals High-Order Sliding Mode-Based Fixed-Time Active Disturbance Rejection Control for Quadrotor Attitude System

Electronics ◽  
2018 ◽  
Vol 7 (12) ◽  
pp. 357 ◽  
Author(s):  
Chunlin Song ◽  
Changzhu Wei ◽  
Feng Yang ◽  
Naigang Cui
Keyword(s):  
Disturbance Rejection ◽  
Sliding Mode ◽  
Fixed Time ◽  
High Order ◽  
Extended State Observer ◽  
Active Disturbance Rejection Control ◽  
Extended State ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Scheme

This article presents a fixed-time active disturbance rejection control approach for the attitude control problem of quadrotor unmanned aerial vehicle in the presence of dynamic wind, mass eccentricity and an actuator fault. The control scheme applies the feedback linearization technique and enhances the performance of the traditional active disturbance rejection control (ADRC) based on the fixed-time high-order sliding mode method. A switching-type uniformly convergent differentiator is used to improve the extended state observer for estimating and attenuating the lumped disturbance more accurately. A multivariable high-order sliding mode feedback law is derived to achieve fixed time convergence. The timely convergence of the designed extended state observer and the feedback law is proved theoretically. Mathematical simulations with detailed actuator models and real time experiments are performed to demonstrate the robustness and practicability of the proposed control scheme.

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