A relative degree one modified active disturbance rejection control for four-tank level control system

Level Control ◽

Abstract This paper deals with the disturbance rejection, parameter uncertainty cancelation, and the closed-loop stabilization of the water level of the four-tank nonlinear system. For the four-tank system with relative degree one, a new structure of the active disturbance rejection control (ADRC) has been presented by incorporating a tracking differentiator (TD) in the control unit to obtain the derivate of the tracking error. Thus, the nonlinear-PD control together with the TD serves as a new nonlinear state error feedback. Moreover, a sliding mode extended state observer is presented in the feedback loop to estimate the system's state and the total disturbance. The proposed scheme has been compared with several control schemes including linear and nonlinear versions of ADRC techniques. Finally, the simulation results show that the proposed scheme achieves excellent results in terms of disturbance elimination and output tracking as compared to other conventional schemes. It was able to control the water levels in the two lower tanks to their desired value and exhibits excellent performance in terms of Integral Time Absolute Error (ITAE) and Objective Performance Index (OPI).

2021 13th International Symposium on Linear Drives for Industry Applications (LDIA) ◽

Adaptive Sliding Mode Active Disturbance Rejection Control of PMLSM Based on Simulated Annealing Particle Swarm Optimization Algorithm

10.1109/ldia49489.2021.9506002 ◽

2021 ◽

Author(s):

Liang Guo ◽

Xu Zhang

Keyword(s):

Particle Swarm Optimization ◽

Simulated Annealing ◽

Optimization Algorithm ◽

Disturbance Rejection ◽

Particle Swarm Optimization Algorithm ◽

Sliding Mode ◽

Swarm Optimization ◽

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

Engineering Computations ◽

10.1108/ec-02-2021-0098 ◽

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 ◽

State Variables ◽

Content Type ◽

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.

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

Electronics ◽

10.3390/electronics7120357 ◽

2018 ◽

Vol 7 (12) ◽

pp. 357 ◽

Cited By ~ 6

Author(s):

Chunlin Song ◽

Changzhu Wei ◽

Feng Yang ◽

Naigang Cui

Keyword(s):

Disturbance Rejection ◽

Sliding Mode ◽

Fixed Time ◽

High Order ◽

Extended State Observer ◽

Extended State ◽

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.

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

Electro-hydraulic position servo system based on sliding mode active disturbance rejection compound control

10.1177/09544062211028258 ◽

2021 ◽

pp. 095440622110282

Author(s):

Zhang He ◽

Zhao Jiyun ◽

Wang Yunfei ◽

Zhang Zhonghai ◽

Ding Haigang ◽

...

Keyword(s):

Disturbance Rejection ◽

Control Method ◽

Sliding Mode ◽

Servo System ◽

Compound Control ◽

Uncertain Disturbances ◽

Position Servo

This study proposes a compound control method based on sliding mode and active disturbance rejection control to address the difficulty of controlling the cutting head for boom-type roadheader with parameter changes and uncertain disturbances. The fastest discrete tracking differentiator and extended state observer based on the traditional active disturbance rejection control are designed. Additionally, the controller of the sliding mode and active disturbance rejection control is constructed. Theoretical analysis indicates that the proposed controller ensures asymptotic stability, despite the existing uncertain disturbances. Moreover, a system based on AMESim and MATLAB/Simulink Co-simulation model is developed to further verify the performance of proposed algorithm. Compared with traditional active disturbance rejection control, proportional-integral-derivative(PID) and sliding mode control, co-simulation results demonstrate that the sliding mode active disturbance rejection compound control improves the tracking accuracy and robustness of the position servo system.

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

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

10.1177/0954407019860626 ◽

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 ◽

Car Suspension ◽

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.

Bus Voltage Control of DC Distribution Network Based on Sliding Mode Active Disturbance Rejection Control Strategy

Energies ◽

10.3390/en13061358 ◽

2020 ◽

Vol 13 (6) ◽

pp. 1358 ◽

Cited By ~ 1

Author(s):

Boning Wu ◽

Xuesong Zhou ◽

Youjie Ma

Keyword(s):

Disturbance Rejection ◽

Sliding Mode ◽

Distribution Network ◽

Sliding Mode Controller ◽

State Variables ◽

Dc Distribution ◽

Bus Voltage

The DC distribution network has more advantages in power transmission, grid connection of distributed energy, and reliability of power supply when compared with AC distribution network, but there are still many problems in the development of DC distribution network. DC bus voltage control is one of the hot issues in the research of DC distribution network. To solve this problem, in this paper, a new type of sliding mode active disturbance rejection control (SMADRC) controller for AC/DC converters is designed and applied to the voltage outer loop. The linear extended state observer (LESO) can observe the state variables and the total disturbance of the system. The SMADRC is composed of a sliding mode controller, LESO, and disturbance compensator, which can compensate the total disturbance observed by LESO properly. Therefore, it improves the dynamic. At the same time, it can also reduce the system jitter that is caused by sliding mode controller. The state variables that are observed by the LESO are used in the design of sliding mode controller, which greatly simplifies the design of sliding mode controller. Finally, the simulation results of Matlab/Simulink show that the controller has good start-up performance and strong robustness.

Robust Active Disturbance Rejection Control For Flexible Link Manipulator

Robotica ◽

10.1017/s026357471900050x ◽

2019 ◽

Vol 38 (1) ◽

pp. 118-135 ◽

Cited By ~ 5

Author(s):

Raouf Fareh ◽

Mohammad Al-Shabi ◽

Maamar Bettayeb ◽

Jawhar Ghommam

Keyword(s):

Disturbance Rejection ◽

Sliding Mode ◽

Lyapunov Theory ◽

Control Law ◽

Flexible Link ◽

Estimation Errors ◽

Disturbance Estimation ◽

SummaryThis paper presents an advanced robust active disturbance rejection control (ADRC) for flexible link manipulator (FLM) to track desired trajectories in the joint space and minimize the link’s vibrations. It has been shown that the ADRC technique has a very good disturbance rejection capability. Both the internal dynamics and the external disturbances can be estimated and compensated in real time. The proposed robust ADRC control law is developed to solve the problems existing in the original version of the ADRC related to the disturbance estimation errors and the variation of the parameters. Indeed, these parameters cannot be included in the existing disturbances and then be estimated by the extended state observer. The proposed control law is based on the sliding mode technique, which considers the uncertainties in the control gains and disturbance estimation errors. Lyapunov theory is used to prove the closed-loop stability of the system. The proposed control strategy is simulated and tested experimentally on one FLM. The effect of the observer bandwidth on the system performance is simulated and studied to select the best values of the bandwidth frequency. The simulation and experimental results show that the proposed robust ADRC has better performance than the traditional ADRC.

Design of an active front steering system for a vehicle using an active disturbance rejection control method

Science Progress ◽

10.1177/0036850419883565 ◽

2019 ◽

Vol 103 (1) ◽

pp. 003685041988356

Author(s):

Nan Sang ◽

Lele Chen

Keyword(s):

Pid Control ◽

Disturbance Rejection ◽

Tracking Error ◽

Lateral Acceleration ◽

Vehicle Model ◽

Active Front Steering ◽

Better Than

A linear vehicle model is commonly employed in the controller design for an active front steering (AFS). However, this simplified model has a considerable influence on the accuracy of the controller. In this article, an AFS controller using an active disturbance rejection control (ADRC) technique is proposed to prevent this problem. The AFS controller was established in MATLAB/Simulink to control the CarSim vehicle model for verification of the simulation. Under the straight-line driving disturbance condition, proportion-integration-differentiation (PID) control and ARDC substantially decreased with respect to the uncontrolled lateral offset and ADRC performed better than PID control. Under the double lane change (DLC) test working condition, the tracking error of the path, yaw rate, roll angle, and lateral acceleration, and error of the driving direction were used to evaluate the vehicle’s controllability and stability. These evaluation indexes were substantially improved by PID control and ADRC; similarly, ADRC was better than PID control. The tracking error of the ADRC in the presence of parameter variance and external disturbance was significantly smaller than that of PID control. The results have verified that the AFS controller based on ADRC can significantly improve vehicle controllability and stability.

Active Disturbance Rejection Control for Air-Breathing Hypersonic Vehicles Based on Prescribed Performance Function

International Journal of Aerospace Engineering ◽

10.1155/2019/4129136 ◽

2019 ◽

Vol 2019 ◽

pp. 1-20 ◽

Cited By ~ 1

Author(s):

Chenyang Xu ◽

Humin Lei ◽

Na Lu

Keyword(s):

Disturbance Rejection ◽

Tracking Error ◽

Hypersonic Vehicles ◽

Parameter Uncertainties ◽

Performance Function ◽

Air Breathing ◽

Prescribed Performance ◽

Aiming at the longitudinal motion model of the air-breathing hypersonic vehicles (AHVs) with parameter uncertainties, a new prescribed performance-based active disturbance rejection control (PP-ADRC) method was proposed. First, the AHV model was divided into a velocity subsystem and altitude system. To guarantee the reliability of the control law, the design process was based on the nonaffine form of the AHV model. Unlike the traditional prescribed performance control (PPC), which requires accurate initial tracking errors, by designing a new performance function that does not depend on the initial tracking error and can ensure the small overshoot convergence of the tracking error, the error convergence process can meet the desired dynamic and steady-state performance. Moreover, the designed controller combined with an active disturbance rejection control (ADRC) and extended state observer (ESO) further enhanced the disturbance rejection capability and robustness of the method. To avoid the differential expansion problem and effectively filter out the effects of input noise in the differential signals, a new tracking differentiator was proposed. Finally, the effectiveness of the proposed method was verified by comparative simulations.

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

Development of the active disturbance rejection control method for increasing the stability of the long articulated vehicle

10.1177/0954407019827731 ◽

2019 ◽

Vol 233 (13) ◽

pp. 3554-3576 ◽

Cited By ~ 1

Author(s):

Naser Esmaeili ◽

Reza Kazemi

Keyword(s):

Disturbance Rejection ◽

Control Method ◽

Sliding Mode ◽

Positive Effects ◽

Articulated Vehicles ◽

Sliding Mode Controllers ◽

Articulated Vehicle

Today, with the increasing growth in road traffic, many countries are welcoming long articulated vehicles because of their economic and environmental benefits and the positive effects on the problem of traffic congestion and the reduction in fuel consumption and environmental pollutants. The major problem with such vehicles is poor maneuverability at low speeds and inappropriate lateral performance at high speeds, resulting in accidents and financial losses. Therefore, in order to improve their safety, they need a control system that can improve the performance of the long articulated vehicles. In this article, a 19-degree of freedom dynamic model of the long articulated vehicle has been developed in MATLAB software. This vehicle consists of a tractor and two semi-trailer units. To adjust the articulated vehicle lateral dynamics, a robust control method based on the combination of active disturbance rejection control and back-stepping sliding mode control is introduced. Four control variables such as yaw rate and lateral velocity of the tractor and also first and second articulation angles are regulated by steering the axles of the tractor and two trailers. Furthermore, in order to measure the state variables of the long articulated vehicle, the extended Kalman filter is used. The results of the simulation in high-speed lane change and low-speed steep steer maneuvers indicate the superiority of this method over linear-quadratic regulator and sliding mode controllers. Finally, the robustness of this controller than conventional sliding mode and active disturbance rejection sliding mode controllers have been shown in the presence of noises.