Practical control implementation of tri-tiltRotor flying wing unmanned aerial vehicles based upon active disturbance rejection control

2020 ◽  
Vol 234 (4) ◽  
pp. 943-960
Author(s):  
Zian Wang ◽  
Zheng Gong ◽  
Yongliang Chen ◽  
Mingwei Sun ◽  
Jinfa Xu
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Flight Control ◽  
Disturbance Rejection ◽  
Effective Control ◽  
Control Input ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Aerial Vehicles ◽  
Disturbance Rejection Control ◽  
Control Scheme

Tilt rotor unmanned aerial vehicles exhibit their effectiveness via a novel and convenient structure. However, the flight control system is a critical problem in need of a robust solution. Focusing on its flight features, which display strong nonlinear and varying dynamics, caused by complexity in the aerodynamic layout and tilting structure, a practical control scheme is proposed to meet such technical issues. This paper first develops the nonlinear model, consisting of the interference between rotors and the wing body, relying on wind tunnel technology. A simplified linear model that decomposes the longitudinal and lateral components is used in order to facilitate controller design. Then, a time-scale separation decoupling control scheme based upon active disturbance rejection control is proposed to cope with control challenges. Introducing the concept of virtual control input, an effective control allocation is obtained by choosing the appropriate bandwidth in the frequency domain. The extended state observer is applied to estimate and compensate for unknown total disturbances and model uncertainties. Finally, robustness verification, successful test-bench experiments, and practical flight tests that show the fast tracking and disturbance rejection of the active disturbance rejection control controller are discussed. The proposed practical coupling rejection control design demonstrates its capability to employ a single input single output method to control a tri-tiltRotor flying wing unmanned aerial vehicle relying on active disturbance rejection control.

scholarly journals Precise Locating Control for a Polar Crane Based on Sliding Mode Active Disturbance Rejection Control and Quadratic Programming Algorithm

Machines ◽  
2021 ◽  
Vol 9 (2) ◽  
pp. 22
Author(s):  
Xuyang Cao ◽  
Zhiwei Wang ◽  
Xingang Zhang
Keyword(s):  
Quadratic Programming ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Cross Coupling ◽  
Contact Forces ◽  
Effective Control ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Scheme

A polar crane is a large-scale special lifting equipment operated in a nuclear power plant. To address the precise locating control problem of a polar crane with the center of gravity shifting, with cross-coupling, and with external disturbance, an effective control scheme is proposed in this paper. Firstly, a nonholonomic constraint dynamic model of the polar crane is established according to the Lagrange–Rouse equation. Then, an expansion state observer (ESO) of the active disturbance rejection control (ADRC) method is applied to estimate and compensate the cross-coupling disturbance in real-time. To improve the robustness and convergence speed of the control system, the nonsingular terminal sliding mode (NTSM) control method is incorporated with ADRC and the stability of the controller is proven by the Lyapunov function approach. Furthermore, to solve the problem of redundant actuation and to reduce trajectory deviation of the bridge truck, the contact forces of the horizontal guide device are introduced into the quadratic programming (QP) optimization algorithm. Finally, the effectiveness and superiority of the proposed control scheme are illustrated by simulation results.

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.

Decoupling control of high-purity heat integrated distillation column process via active disturbance rejection control and nonlinear wave theory

2020 ◽  
Vol 42 (12) ◽  
pp. 2221-2233 ◽  
Author(s):  
Yun Cheng ◽  
Zengqiang Chen ◽  
Mingwei Sun ◽  
Qinglin Sun
Keyword(s):  
Nonlinear Wave ◽  
Control Strategy ◽  
High Purity ◽  
Disturbance Rejection ◽  
Distillation Column ◽  
Decoupling Control ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Scheme

Although the heat integrated distillation is an energy-efficient and environment-friendly separation technology, it has not been commercialized. One of the reasons is that the nonlinear dynamics and the interactions between various control loops have limited the performance of the traditional control strategy. To achieve a high-purity product concentration, a dynamic decoupling control strategy based on active disturbance rejection control (ADRC) is proposed. The effects of interactions, uncertainties and external disturbances can be estimated and rejected by using extended state observer. Considering the constraints on manipulated variables, an optimized ADRC is designed for the first-order system. Moreover, a concentration observer based on a nonlinear wave model is formulated to reduce the number of sensors. In the simulation research, the related internal model control (IMC), multi-loop ADRC and model predictive control (MPC) are compared with the proposed control scheme. The simulation results demonstrate the advantages of the proposed control scheme on tight control, decoupling performance and disturbance rejection for the high-purity heat integrated distillation column.

scholarly journals An error-based active disturbance rejection control with memory structure

2020 ◽  
pp. 002029402091521 ◽  
Author(s):  
Sen Chen ◽  
Zhixiang Chen ◽  
Zhiliang Zhao
Keyword(s):  
Disturbance Rejection ◽  
Reference Signal ◽  
Memory Structure ◽  
Necessary Condition ◽  
Control Input ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Input Gain ◽  
With Memory

The paper studies the control problem for nonlinear uncertain systems with the situation that only the current reference signal is available. By constructing a memory structure to save the previous reference signals, a novel error-based active disturbance rejection control with an approximation for the second-order derivative of reference signal is proposed. The transient performance of the proposed method is rigorously studied, which implies the high consistence of the closed-loop system. More importantly, to attain the satisfactory tracking performance, the necessary condition for nominal control input gain is quantitatively investigated. Furthermore, the superiority of the proposed method is illuminated by contrastively evaluating the sizes of the total disturbance and its derivative. The proposed method can alleviate the burden of the estimation and compensation for total disturbance. Finally, the experiment for a manipulator platform shows the effectiveness of the proposed method.

A Self-Repairing Control Scheme for Quadrotor Helicopter via Active Disturbance Rejection Control

2013 ◽  
Vol 404 ◽  
pp. 603-608
Author(s):  
Qing Bo Wu ◽  
Fu Yang Chen ◽  
Chang Yun Wen
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Disturbance Rejection ◽  
Control Algorithm ◽  
Tracking Error ◽  
Active Disturbance Rejection Control ◽  
Quadrotor Helicopter ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Scheme

In this paper, a self-repairing control scheme for attitude control of a quadrotor helicopter via active disturbance rejection control is proposed. Firstly, a model of the quadrotor helicopter is gained by its dynamic equations with pitch, roll and yaw axis. Then the active disturbance rejection controller is introduced, which is used to design the control system. The control system consists of PID controller in inner-loop and ADRC controller in outer-loop. Disturbances and uncertainties can be compensated by the ADRC to achieve smaller tracking error. Finally, the simulation results of the four-rotor helicopter validate the efficiency and self-repairing capability of the proposed control algorithm, compared with that of the PID control and the separate ADRC control.

scholarly journals Sliding Mode Robust Active Disturbance Rejection Control for Single-Link Flexible Arm with Large Payload Variations

Electronics ◽  
2021 ◽  
Vol 10 (23) ◽  
pp. 2995
Author(s):  
Fan Wang ◽  
Peng Liu ◽  
Feng Jing ◽  
Bo Liu ◽  
Wei Peng ◽  
...  
Keyword(s):  
Robust Control ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Active Disturbance Rejection Control ◽  
Outer Loop ◽  
Active Disturbance Rejection ◽  
Flexible Arm ◽  
Disturbance Rejection Control ◽  
Control Scheme ◽  
Single Link

This paper proposes a novel robust control scheme for tip trajectory tracking of a lightweight flexible single-link arm. The developed control scheme deals with the influence of tip payload changes and disturbances during the working process of the flexible arm, thus realizing the accurate tracking for the tip reference trajectory. The robust control scheme is composed of an inner loop and an outer loop. The inner loop adopts the traditional PD control, and an active disturbance rejection control (ADRC) with a sliding mode (SM) compensation is designed in the outer loop. Moreover, the sliding mode compensation is mainly used to cope with the disturbance estimation error from the extended state observer (ESO), by which the insensitivity to tip payload variations and strong disturbance resistance is achieved. Finally, some numerical simulations are performed to support the theoretical analysis. The results show that the system is more robust to the tip mass variations of the arm and more resistant to the external torque after adding the sliding mode robustness term to the ADRC.

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