Nonlinear regulator with disturbance compensation

2015 ◽  
Vol 51 (4) ◽  
pp. 408-416
Author(s):  
S. I. Kolesnikova
Keyword(s):  
Disturbance Compensation ◽  
Nonlinear Regulator

scholarly journals Robust Quadrotor Control through Reinforcement Learning with Disturbance Compensation

2021 ◽  
Vol 11 (7) ◽  
pp. 3257
Author(s):  
Chen-Huan Pi ◽  
Wei-Yuan Ye ◽  
Stone Cheng
Keyword(s):  
Neural Network ◽  
Reinforcement Learning ◽  
Control Strategy ◽  
External Disturbance ◽  
Control Agent ◽  
Network Control ◽  
Outdoor Environment ◽  
Disturbance Compensation ◽  
Tracking Accuracy ◽  
Control Scheme

In this paper, a novel control strategy is presented for reinforcement learning with disturbance compensation to solve the problem of quadrotor positioning under external disturbance. The proposed control scheme applies a trained neural-network-based reinforcement learning agent to control the quadrotor, and its output is directly mapped to four actuators in an end-to-end manner. The proposed control scheme constructs a disturbance observer to estimate the external forces exerted on the three axes of the quadrotor, such as wind gusts in an outdoor environment. By introducing an interference compensator into the neural network control agent, the tracking accuracy and robustness were significantly increased in indoor and outdoor experiments. The experimental results indicate that the proposed control strategy is highly robust to external disturbances. In the experiments, compensation improved control accuracy and reduced positioning error by 75%. To the best of our knowledge, this study is the first to achieve quadrotor positioning control through low-level reinforcement learning by using a global positioning system in an outdoor environment.

scholarly journals Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199399
Author(s):  
Xiaoguang Li ◽  
Bi Zhang ◽  
Daohui Zhang ◽  
Xingang Zhao ◽  
Jianda Han
Keyword(s):  
Adaptive Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Control Method ◽  
Control Law ◽  
Reference Trajectory ◽  
Disturbance Compensation ◽  
Comparison Results ◽  
Control Scheme ◽  
Actuator System

Shape memory alloy (SMA) has been utilized as the material of smart actuators due to the miniaturization and lightweight. However, the nonlinearity and hysteresis of SMA material seriously affect the precise control. In this article, a novel disturbance compensation-based adaptive control scheme is developed to improve the control performance of SMA actuator system. Firstly, the nominal model is constructed based on the physical process. Next, an estimator is developed to online update not only the unmeasured system states but also the total disturbance. Then, the novel adaptive controller, which is composed of the nominal control law and the compensation control law, is designed. Finally, the proposed scheme is evaluated in the SMA experimental setup. The comparison results have demonstrated that the proposed control method can track reference trajectory accurately, reject load variations and stochastic disturbances timely, and exhibit satisfactory robust stability. The proposed control scheme is system independent and has some potential in other types of SMA-actuated systems.

scholarly journals An Underwater Quadrotor Control with Wave-disturbance Compensation by a UKF

2020 ◽  
Vol 53 (2) ◽  
pp. 9017-9022
Author(s):  
T. Ohhira ◽  
A. Kawamura ◽  
A. Shimada ◽  
T. Murakami
Keyword(s):  
Wave Disturbance ◽  
Disturbance Compensation ◽  
Quadrotor Control

scholarly journals Modified ADRC for Inertial Stabilized Platform With Corrected Disturbance Compensation and Improved Speed Observer

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 157703-157716
Author(s):  
Junhai Qu ◽  
Yuanqing Xia ◽  
Yongping Shi ◽  
Jingjing Cao ◽  
Haiwen Wang ◽  
...  
Keyword(s):  
Disturbance Compensation ◽  
Stabilized Platform

scholarly journals Generalized ESO and Predictive Control Based Robust Autopilot Design

2016 ◽  
Vol 2016 ◽  
pp. 1-12 ◽  
Author(s):  
Bhavnesh Panchal ◽  
S. E. Talole
Keyword(s):  
Predictive Control ◽  
Closed Loop ◽  
Specific Information ◽  
Disturbance Compensation ◽  
External Disturbances ◽  
Output Tracking ◽  
Control Gain ◽  
Predictive Controller ◽  
Mismatched Uncertainty ◽  
Acceleration Tracking

A novel continuous time predictive control and generalized extended state observer (GESO) based acceleration tracking pitch autopilot design is proposed for a tail controlled, skid-to-turn tactical missile. As the dynamics of missile are significantly uncertain with mismatched uncertainty, GESO is employed to estimate the state and uncertainty in an integrated manner. The estimates are used to meet the requirement of state and to robustify the output tracking predictive controller designed for nominal system. Closed loop stability for the controller-observer structure is established. An important feature of the proposed design is that it does not require any specific information about the uncertainty. Also the predictive control design yields the feedback control gain and disturbance compensation gain simultaneously. Effectiveness of GESO in estimation of the states and uncertainties and in robustifying the predictive controller in the presence of parametric uncertainties, external disturbances, unmodeled dynamics, and measurement noise is illustrated by simulation.

Sign in / Sign up

Export Citation Format

Share Document