Motion control of a novel 6-degree-of-freedom parallel platform based on modified active disturbance rejection controller

2013 ◽  
Vol 228 (2) ◽  
pp. 87-96 ◽  
Author(s):  
Xinxin Shi ◽  
Siqin Chang ◽  
Jiacai Huang
Keyword(s):  
Motion Control ◽  
Disturbance Rejection ◽  
Degree Of Freedom ◽  
Active Disturbance Rejection ◽  
Parallel Platform

scholarly journals Fractional-Order Active Disturbance Rejection Controller for Motion Control of a Novel 6-DOF Parallel Robot

2020 ◽  
Vol 2020 ◽  
pp. 1-7
Author(s):  
Xinxin Shi ◽  
Jiacai Huang ◽  
Fangzheng Gao
Keyword(s):  
Motion Control ◽  
Fractional Order ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
Experimental Results ◽  
The Novel ◽  
Linear Motors ◽  
Active Disturbance Rejection

A novel 6-degree-of-freedom (6-DOF) parallel robot driven by six novel linear motors is designed and controlled in this paper. Detailed structures of linear motors are illustrated. A control strategy based on kinematics of the 6-DOF parallel robot is used, and six linear motors are controlled to track their own desired trajectories under a designed fractional-order active disturbance rejection controller (FOADRC). Compared with the normal ADRC, two desired trajectories and three different working situations of a linear motor are simulated to show good performances of the FOADRC. Experimental results show that six linear motors can track their own desired trajectories accurately under payloads and disturbances, and the novel 6-DOF parallel robot can be controlled well.

Active disturbance rejection guidance and control scheme for homing missiles with impact angle constraints

2018 ◽  
Vol 233 (3) ◽  
pp. 1133-1146
Author(s):  
Jian Hua Wang ◽  
Yuan Wen Cai ◽  
Long Cheng ◽  
Yan Li ◽  
Chao Jun Xin ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Three Dimensional ◽  
Impact Angle ◽  
Degree Of Freedom ◽  
Guidance And Control ◽  
Active Disturbance Rejection ◽  
Control Scheme ◽  
Homing Missiles ◽  
Six Degree Of Freedom ◽  
And Control

An active disturbance rejection guidance and control scheme for homing missiles with three-dimensional impact angle constraints is proposed. The six-degree-of-freedom dynamical and kinematical models containing model uncertainties and disturbances are established. A strict feedback relative dynamics between the target and homing missile in three-dimensional space are deduced. A reconstructed reduced-order attitude controller design model is proposed. A two-loop control structure with respect to the centroid guidance loop and rotational control loop is conducted to implement the six-degree-of-freedom guidance and control system with the help of second-order sliding mode approach and extended state observers. The tracking loop of the Euler angles of the missile can be elided and the number of six-degree-of-freedom control parameters can be reduced. Finally, the effectiveness and robustness of the newly proposed guidance and control scheme are investigated and verified via six-degree-of-freedom nonlinear simulation studies.

scholarly journals Sigmoid Function based Modelling and Route Tracking of Obstacle avoidance for Ship in Restricted Water

2018 ◽  
Vol 232 ◽  
pp. 02025
Author(s):  
Yue Zhao ◽  
Renqiang Wang ◽  
Jianming Sun ◽  
Changhua Liu ◽  
Jingdong Li ◽  
...  
Keyword(s):  
Path Planning ◽  
Motion Control ◽  
Obstacle Avoidance ◽  
Disturbance Rejection ◽  
Ship Motion ◽  
Geometric Features ◽  
Sigmoid Function ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

In order to solve the problem of obstacle avoidance of ship in restricted waters, a type of path planning method for obstacle avoidance based on sigmoid function was designed. Firstly, with the concept of path planning, sigmoid function was used to construct the trajectory of ship movement for obstacle avoidance on the basis of analyzing the process of ship obstacle avoidance and the geometric features of sigmoid function. Then, the route tracking in real time was achieved by ship motion control system based on active disturbance rejection control. The simulation shows that ship can ensure avoid obstacle and that the route built based on sigmoid function in confined waters is effective.

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