scholarly journals Design and Assessment of ADRC-Based Autopilot for Energy-Efficient Ship Steering

Energies ◽  
2021 ◽  
Vol 14 (23) ◽  
pp. 7937
Author(s):  
Zenon Zwierzewicz ◽  
Lech Dorobczyński ◽  
Jarosław Artyszuk
Keyword(s):  
Disturbance Rejection ◽  
Energy Efficient ◽  
Controller Design ◽  
Weather Conditions ◽  
Successful Implementation ◽  
Model Structure ◽  
Original Result ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Ship Steering

This paper looks at a typical problem encountered in the process of designing an automatic ship’s course stabilisation system with the use of a relatively new methodology referred to as the Active Disturbance Rejection Control (ADRC). The main advantage of this approach over classic autopilots based on PID algorithms, still in the majority, is that it eliminates the tuning problem and, thus, ensures a much better average performance of the ship in various speed, loading, nautical and weather conditions during a voyage. All of these factors call for different and often dynamically variable autopilot parameters, which are difficult to assess, especially by the ship’s crew or owner. The original result of this article is that the required controller parameters are approximated based on some canonical model structure and analysis of the hydrodynamic properties of a wide class of ships. Another novelty is the use of a fully verified, realistic numerical hydrodynamic model of the ship as a simulation model as well as a basis for deriving a simplified model structure suitable for controller design. The preliminary results obtained indicate good performance of the proposed ADRC autopilot and provide prospects for its successful implementation on a real ship.

Automated steering controller design for vehicle lane keeping combining linear active disturbance rejection control and quantitative feedback theory

2018 ◽  
Vol 232 (7) ◽  
pp. 937-948 ◽  
Author(s):  
Zhengrong Chu ◽  
Christine Wu ◽  
Nariman Sepehri
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Controller Design ◽  
Active Disturbance Rejection Control ◽  
Quantitative Feedback Theory ◽  
Steering Control ◽  
Parameter Uncertainties ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Lane Keeping

In this article, a new automated steering control method is presented for vehicle lane keeping. This method is a combination between the linear active disturbance rejection control and the quantitative feedback theory. The structure of the steering controller is first determined based on the linear active disturbance rejection control, then the controller is tuned in the framework of the quantitative feedback theory to meet the prescribed design specifications on sensitivity and closed-loop stability. The parameter uncertainties of the vehicle system are considered at the tuning stage. The proposed steering controller is simulated and tested on a scale vehicle. Both the simulation and experimental results demonstrate that the scale vehicle controlled by the proposed controller is able to perform the lane keeping. In the experiments, the lateral offset between the scale vehicle and the road centerline is regulated within the acceptable ranges of ±0.03 m during straight lane keeping and ±0.15 m during curved lane keeping. The proposed controller is easy to be implemented and is simple without requiring complex calculations and measurements of vehicle states. Simulations also show that the control method can be implemented on a full-scale vehicle.

scholarly journals A Delta Operator Approach for the Discrete-Time Active Disturbance Rejection Control on Induction Motors

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
John Cortés-Romero ◽  
Alberto Luviano-Juárez ◽  
Hebertt Sira-Ramírez
Keyword(s):  
Discrete Time ◽  
Disturbance Rejection ◽  
Induction Motors ◽  
Controller Design ◽  
Delta Operator ◽  
Active Disturbance Rejection Control ◽  
Operator Approach ◽  
Time Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

The problem of active disturbance rejection control of induction motors is tackled by means of a generalized PI observer based discrete-time control, using the delta operator approach as the methodology of analyzing the sampled time process. In this scheme, model uncertainties and external disturbances are included in a general additive disturbance input which is to be online estimated and subsequently rejected via the controller actions. The observer carries out the disturbance estimation, thus reducing the complexity of the controller design. The controller efficiency is tested via some experimental results, performing a trajectory tracking task under load variations.

Robust Tracking in Underactuated Systems Using Flatness-Based ADRC With Cascade Observers

2020 ◽  
Vol 142 (9) ◽  
Author(s):  
Mario Ramírez-Neria ◽  
Rafal Madonski ◽  
Sally Shao ◽  
Zhiqiang Gao
Keyword(s):  
Disturbance Rejection ◽  
Controller Design ◽  
High Gain ◽  
Measurement Noise ◽  
Underactuated Systems ◽  
Detailed Knowledge ◽  
Tuning Method ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Measurement Devices

Abstract In this work, the problem of trajectory tracking in uncertain underactuated systems is considered. To solve it, a combination of differential flatness and active disturbance rejection control (ADRC) is proposed. The controller design is synthesized in the absence of detailed knowledge of the system model and focuses on dealing with over-amplification of measurement noise, typically seen in conventional single high-gain observer-centered control approaches. The introduced solution is based on fully utilizing the information already available about the governed system, without the necessity for additional measurement devices. To be easily implementable, it is expressed in an industry familiar error-based form with a straightforward tuning method. Through experimental verification, the proposed approach is shown to enhance the disturbance-rejection capabilities of the standard ADRC structure and reduce its sensitivity to measurement noise, thus increasing its practical appeal.

scholarly journals Adaptive Fuzzy Active-Disturbance Rejection Control-Based Reconfiguration Controller Design for Aircraft Anti-Skid Braking System

Actuators ◽  
2021 ◽  
Vol 10 (8) ◽  
pp. 201
Author(s):  
Zhao Zhang ◽  
Zhong Yang ◽  
Guoxing Zhou ◽  
Shuchang Liu ◽  
Dongsheng Zhou ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Controller Design ◽  
External Disturbance ◽  
Strong Nonlinearity ◽  
Active Disturbance Rejection Control ◽  
Adaptive Fuzzy ◽  
Braking System ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Reconfiguration Controller

The aircraft anti-skid braking system (AABS) is an essential aero electromechanical system to ensure safe take-off, landing, and taxiing of aircraft. In addition to the strong nonlinearity, strong coupling, and time-varying parameters in aircraft dynamics, the faults of actuators, sensors, and other components can also seriously affect the safety and reliability of AABS. In this paper, a reconfiguration controller-based adaptive fuzzy active-disturbance rejection control (AFADRC) is proposed for AABS to meet increased performance demands in fault-perturbed conditions as well as those concerning reliability and safety requirements. The developed controller takes component faults, external disturbance, and measurement noise as the total perturbations, which are estimated by an adaptive extended state observer (AESO). The nonlinear state error feedback (NLSEF) combined with fuzzy logic can compensate for the adverse effects and ensure that the faulty AABS maintains acceptable performance. Numerical simulations are carried out in different runway environments. The results validate the robustness and reconfiguration control capability of the proposed method, which improves AABS safety as well as braking efficiency.

A Fractional-Order Active Disturbance Rejection Controller Design for a PMSM Servo System

2021 ◽  
Author(s):  
Bolin Li ◽  
Pengchong Chen ◽  
Ying Luo
Keyword(s):  
Fractional Order ◽  
Disturbance Rejection ◽  
Controller Design ◽  
Tracking Error ◽  
Servo System ◽  
Parameter Tuning ◽  
Phase Constraint ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Abstract This paper proposes a fractional-order active disturbance rejection controller (FOADRC) parameters tuning design method for a permanent magnet synchronous motor (PMSM) servo system with frequency-domain analysis of active disturbance rejection control. In this method, a fractional-order proportional derivative (FOPD) and a fractional-order [proportional derivative] (FO[PD]) controllers design combining with active disturbance rejection control (ADRC) are proposed. A systematic parameter tuning scheme is presented, and a flat phase constraint is applied as a design specification, which guarantees the phase is flat around the gain crossover frequency point, and the closed-loop system is robust to gain variations. The simulation results illustrate that the response of the PMSM servo system using FO[PD]-ADRC has a smaller overshoot, less tracking error, and better resistance to load disturbance than that using FOPD-ADRC.

scholarly journals Rapid attitude maneuver of the space tether net capture system using active disturbance rejection control

2019 ◽  
Vol 10 (2) ◽  
pp. 575-587
Author(s):  
Cheng Wei ◽  
Hao Liu ◽  
Chunlin Tan ◽  
Yongjian Liu ◽  
Yang Zhao
Keyword(s):  
Disturbance Rejection ◽  
Controller Design ◽  
Strong Nonlinearity ◽  
Active Disturbance Rejection Control ◽  
Control Performance ◽  
Space Tether ◽  
Flexible System ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Attitude Maneuver

Abstract. The space tether net capture system is a spacecraft system with a mounting tether net for capturing targets. It has the advantages of reusability and the adaptability to capture varying targets with different geometries or flying-motion statuses. However, due to its flexible tether net, the system shows strong nonlinearity, which makes it difficult to achieve the desired control performance for rapid and accurate maneuvering; moreover, this limits the ability of the tether net system to capture fast-moving targets. This paper focused on the maneuver controller design of the space capture system with a large flexible tether net. Firstly, based on the absolute node coordinate method, the dynamic model of the space tether net system is established, which can accurately describe the geometric and material nonlinearities of the space tether net. Then, a two-loop active disturbance rejection control is proposed for the rapid and high-precision maneuvering of the flexible system; meanwhile the second-order extended state observer is designed to estimate and compensate for the tether net vibration disturbance. The simulation validated the proposed control, which could complete the rapid and accurate maneuvering and also compensate for the disturbance caused by the vibration of the flexible tether net.

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