scholarly journals Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer

Electronics ◽  
2021 ◽  
Vol 10 (16) ◽  
pp. 2012
Author(s):  
Qian Zhang ◽  
Xu Wu ◽  
Qunjing Wang ◽  
Dijiang Chen ◽  
Chao Ye
Keyword(s):  
Disturbance Rejection ◽  
Fuzzy Controller ◽  
Tracking System ◽  
Estimation Error ◽  
Pole Placement ◽  
Active Disturbance Rejection Control ◽  
Factors Affecting ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Servo Tracking

Friction nonlinear disturbance is one of the main factors affecting the control performance of servo tracking system. In this paper, an improved Active Disturbance Rejection Control (ADRC) scheme of dual-axis servo turntable is researched to achieve accurate tracking. Firstly, the mathematical dynamics model of dual-axis servo tracking turntable system is established. The Elastoplastic model is used to describe nonlinear friction, in which the immeasurable part is extended to be a new state. Secondly, considering the smooth and monotonic increasing property of hyperbolic tangent function, an improved tracking differentiator is introduced, which can provide better noise attenuation performance. Thirdly, based on adjustable parameter systematic pole placement method, the fuzzy control algorithm is applied to realize the intelligent tuning of the improved Extended State Observer (ESO) gains, in which the input of the fuzzy controller is the estimation error, while the output is the observer bandwidth. Finally, the improved ADRC system is transformed into a Lurie system, then the extended circle criteria are adopted to analyze the absolute stability of the proposed system. Simulation and experimental verification of the improved ADRC method for the dual-axis turntable tracking servo system are conducted. Results illustrate the effectiveness and robustness of the proposed controller.

scholarly journals Adaptive Active Disturbance Rejection Control of Solar Tracking Systems with Partially Known Model

Mathematics ◽  
2021 ◽  
Vol 9 (22) ◽  
pp. 2871
Author(s):  
Sergio Isai Palomino-Resendiz ◽  
Norma Beatriz Lozada-Castillo ◽  
Diego Alonso Flores-Hernández ◽  
Oscar Octavio Gutiérrez-Frías ◽  
Alberto Luviano-Juárez
Keyword(s):  
Disturbance Rejection ◽  
Tracking System ◽  
Adaptive Observer ◽  
Identification System ◽  
Active Disturbance Rejection Control ◽  
Test Bed ◽  
Trajectory Tracking Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Solar Tracking

In this article, the trajectory tracking control of a solar tracking system is tackled by means of an adaptive active disturbance rejection control scheme. The state and disturbance estimation system is based on the combination of a time varying identification system and an adaptive observer. The stability and robustness of the controller is mathematically tested by means of the second method of Lyapunov, and its effectiveness is experimentally tested in a robotic test bed, achieving both lower energy consumption and better tracking results with respect to a PID-based controller.

scholarly journals Novel Active Disturbance Rejection Control Based on Nested Linear Extended State Observers

2020 ◽  
Vol 10 (12) ◽  
pp. 4069
Author(s):  
Wameedh Riyadh Abdul-Adheem ◽  
Ahmad Taher Azar ◽  
Ibraheem Kasim Ibraheem ◽  
Amjad J. Humaidi
Keyword(s):  
Disturbance Rejection ◽  
Estimation Error ◽  
Tracking Error ◽  
Rate Of Change ◽  
Estimation Accuracy ◽  
Active Disturbance Rejection Control ◽  
Extended State ◽  
Single Input Single Output ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

In this paper, a Novel Active Disturbance Rejection Control (N-ADRC) strategy is proposed that replaces the Linear Extended State Observer (LESO) used in Conventional ADRC (C-ADRC) with a nested LESO. In the nested LESO, the inner-loop LESO actively estimates and eliminates the generalized disturbance. Increasing the bandwidth improves the estimation accuracy which may tolerate noise and conflict with H/W limitations and the sampling frequency of the system. Therefore, an alternative scenario is offered without increasing the bandwidth of the inner-loop LESO provided that the rate of change of the generalized disturbance estimation error is upper bounded. This was achieved by the placing of an outer-loop LESO in parallel with the inner one that estimates and eliminates the remaining generalized disturbance originating from the inner-loop LESO due to bandwidth limitations. The stability of LESO and nested LESO was investigated using Lyapunov stability analysis. Simulations on uncertain nonlinear single-input-single-output (SISO) system with time-varying exogenous disturbance revealed that the proposed nested LESO could successfully deal with a generalized disturbance in both noisy and noise-free environments, where the Integral Time Absolute Error (ITAE) of the tracking error for the nested LESO was reduced by 69.87% from that of the LESO.

An Industrial Quadrotor UAV Control Method Based on Fuzzy Adaptive Linear Active Disturbance Rejection Control

Electronics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 376
Author(s):  
Changhao Sun ◽  
Mengqi Liu ◽  
Chang’an Liu ◽  
Xueling Feng ◽  
Hua Wu
Keyword(s):  
Strong Coupling ◽  
Disturbance Rejection ◽  
High Efficiency ◽  
Control Method ◽  
Fuzzy Controller ◽  
Response Speed ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Fuzzy Adaptive

In this paper, a fuzzy adaptive linear active disturbance rejection control (Fuzzy-LADRC) is proposed for strong coupling and nonlinear quadrotor unmanned aerial vehicle (UAV). At present, UAV conveys new opportunities in the industry, such as power line inspection, petroleum conduit patrolling, and defects detection for the wind turbine, because of its advantages in flexibility, high efficiency, and economy. Usually, the scene of the UAV mission has a high risk, and there are internal sensor noise and unknown external disturbance. Thus, the attitude stability and anti-interference ability of UAV are especially essential. To solve the strong coupling problem of UAV, the dynamics model of UAV is established via the Newton-Euler method, and the coupling part of dynamics is modeled as an internal disturbance. According to the function of linear active disturbance rejection control (LADRC) parameters, a Fuzzy-LADRC is proposed to improve the dynamic performance of the system. The proposed control method makes full use of the adaptive ability of the fuzzy controller and the anti-interference ability of LADRC to the nonlinear and strong coupling systems. As we know, this is the first time that Fuzzy-LADRC has been used in UAV control. In the simulation, the performance indicators of four controllers, including Fuzzy-LADRC, LADRC, PID, and Fuzzy-PID are compared and analyzed. The results indicate that the average response speed of Fuzzy-LADRC is 12.65% faster than LADRC, and it is 29.25% faster than PID. The average overshoot of Fuzzy-LADRC is 17% less than LADRC and 77.75% less than PID. The proposed control method can significantly improve the response speed and anti-interference ability of UAV.

scholarly journals Motion Control of Autonomous Underwater Vehicle Based on Fractional Calculus Active Disturbance Rejection

2021 ◽  
Vol 9 (11) ◽  
pp. 1306
Author(s):  
Junhe Wan ◽  
Hailin Liu ◽  
Jian Yuan ◽  
Yue Shen ◽  
Hao Zhang ◽  
...  
Keyword(s):  
Fractional Calculus ◽  
Disturbance Rejection ◽  
Autonomous Underwater Vehicle ◽  
Estimation Error ◽  
Underwater Vehicle ◽  
Superior Performance ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
The Stability

An active disturbance rejection control based on fractional calculus is proposed to improve the motion performance and robustness of autonomous underwater vehicle (AUV). The active disturbance rejection control (ADRC) method can estimate and compensate the total disturbance of AUV automatically. The fractional-order PID (proportional integral derivative) has fast dynamic response, which can eliminate the estimation error of extended state observer. The fractional calculus active disturbance rejection strategy combines the advantages of the above two algorithms, and it is designed for AUV heading and pitch subsystems. In addition, the stability of fractional calculus ADRC heading subsystem is proven by Lyapunov stability theorem. The numerical simulations and experimental results document that the superior performance has been achieved. The fractional calculus ADRC strategy has more excellent abilities for disturbance rejection, performs better than ADRC and PID, and has important theoretical and practical value.

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