Stabilization control for unmanned helicopter-slung load system based on active disturbance rejection control and improved sliding mode control

2021 ◽  
pp. 095441002098515
Author(s):  
Dengyan Duan ◽  
Zhigang Wang ◽  
Jianbo Li ◽  
Chaoqun Zhang ◽  
Qiannan Wang
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Active Disturbance Rejection Control ◽  
Current Time ◽  
Swing Angle ◽  
Mode Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Unmanned helicopters are widely used in military and civil fields. One of the most important applications is flying with an underslung load, but the pendulum-like behavior of the load can cause damage or even forced landing to the helicopter. To solve this problem, a control strategy to stabilize the helicopter/load system based on active disturbance rejection control (ADRC) and improved sliding mode control (ISMC) algorithms is proposed in this paper. First, the helicopter/load system is modelled using Newton-Euler equations according to the multi-body dynamics theory. Then a manipulation strategy which can reduce the swing angle of the load and an overall control strategy for the helicopter/load system are presented. Specifically, ADRC is applied to attitude control due to its ability to regard the pendulum-like behavior as the internal uncertainties of the system, meanwhile ISMC to position control. Within ISMC, two sliding surfaces with adjustable weights are constructed by employing the position of the helicopter as well as the swing angle of the load. In addition, a real-time beetle antennae search algorithm is designed to online modify the weights by taking the minimum error at current time as the optimization objective. Besides, the radial basis function neural network is introduced to approach the uncertainty coefficients considering the system’s complexity. At last, relevant simulations are carried out and the results indicate that the system is capable of not only controlling the attitude and position of the helicopter precisely but also stabilizing the underslung load rapidly with ADRC and ISMC.

Manipulation strategy of tilt quad rotor based on active disturbance rejection control

2019 ◽  
Vol 234 (3) ◽  
pp. 573-584 ◽  
Author(s):  
Zhigang Wang ◽  
Jianbo Li ◽  
Dengyan Duan
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Active Disturbance Rejection Control ◽  
Transition Mode ◽  
Mode Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Attitude Controller ◽  
Manipulation Strategy

To solve the problem of manipulation redundancy and coupling in transition mode of tilt quad rotor, this paper studied the manipulation strategy in transition mode, and carried out the design of the attitude controller based on active disturbance rejection control (ADRC) with sliding mode control in nonlinear state error feedback (NLSEF). According to the characteristics of flight in transition mode, the rudders and propellers were assigned different control rights. The differential output of the tracking differentiator was used as the attitude angular rate instruction to simplify the structure of the attitude controller. Extended state observer was used to estimate and compensate internal and external uncertainties. The sliding mode control in NLSEF was used to improve response speed of the controller. Through the flight control simulation and flight test of the tilt quad rotor, the validity of the control system and the rationality of the manipulation strategy were verified.

scholarly journals Improved Sliding Mode-Active Disturbance Rejection Control of Electromagnetic Linear Actuator for Direct-Drive System

Actuators ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 138
Author(s):  
Yingtao Lu ◽  
Cao Tan ◽  
Wenqing Ge ◽  
Bo Li ◽  
Jiayu Lu
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Linear Actuator ◽  
Active Disturbance Rejection Control ◽  
Direct Drive ◽  
Mode Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Electromagnetic Linear Actuator

The electromagnetic linear actuator is used as the core drive unit to achieve high precision and high response in the direct-drive actuation system. In order to improve the response performance and control accuracy of the linear drive unit, an improved sliding mode-active disturbance rejection control (ISM-ADRC) method was proposed. A motor model was established based on improved LuGre dynamic friction. The position loop adopts the improved integral traditional sliding mode control based on an extended state observer, and the current loop adopts PI control. The stability of the system is verified based on the Lyapunov theory. A nonlinear dilated state observer is used to effectively observe the electromagnetic linear actuator position and velocity information while estimating and compensating the internal and external uncertainty perturbations. At the same time, the saturation function sat(s) is used to replace the sign(s) and introduce the power function of the displacement error variable. The improved integral sliding mode control law further improves the response speed and control accuracy of the controller while reducing the jitter inherent in the conventional sliding mode. Simulation and experimental data show that the proposed improved sliding mode-active disturbance rejection control reduces the 8-mm step response time of the electromagnetic linear actuator by 21.9% and the steady-state error by less than 0.01 mm compared with the conventional sliding-mode control, while the system has 49.4% less adjustment time for abrupt load changes and is more robust to different loads and noise.

Simulation of Control System for Permanent Magnet Synchronous Machine

2011 ◽  
Vol 66-68 ◽  
pp. 1422-1427
Author(s):  
Ting You ◽  
Pei Jiang Li
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Permanent Magnet ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Synchronous Machine ◽  
Permanent Magnet Synchronous Machine ◽  
Mode Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

For optimal control of synchronous machine, chattering phenomenon will appear if traditional slider control is adopted because permanent magnet synchronous machine is a complex nonlinear time-dependent system with strong coupling of current and rotational speed to cause the deterioration of system control performance with load or load disturbance. In this article, based on the mathematical model of permanent magnet synchronous machine, a control system for it, which combines sliding mode control and active disturbance rejection control, is proposed to improve the dynamic performance and robustness of control system. In the control system, sliding mode control is adopted to control the inner current of machine and active disturbance rejection control is adopted to control the outer speed. The load disturbance of system is also estimated and offset. The results of matlab simulation show that the control system can eliminate serious chattering phenomenon existing in sliding mode control, improves the robustness of system for load and system parameter disturbance as well as has great dynamic and static performance.

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