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.

Trajectory Tracking Control for a Robotic Manipulator Using Nonlinear Active Disturbance Rejection Control

2017 ◽  
Author(s):  
Mohammed Ali ◽  
Charles K. Alexander
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Robot Manipulator ◽  
Tracking Performance ◽  
Active Disturbance Rejection Control ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

The tracking performance of a robot manipulator is controlled using nonlinear active disturbance rejection control (ADRC). The proposed method does not require the complete knowledge of the plant’s parameters, and external disturbances since it is based on the rejection and estimation of the unknown internal dynamics and external disturbances. The proposed method is simple and has minimal tuning parameters. The robustness of the proposed method is discussed against parameter uncertainties and disturbances. First, the mathematical model of the manipulator is developed. ADRC theory is explained. The manipulator is represented in ADRC form. ADRC’s tracking performance for the joints and end-effector is compared to the tracking performance of the robust passivity (RP) control. The simulations prove that the proposed control method achieves good tracking performance compared to RP control. It is shown that ADRC has a lower energy consumption compared to RP control by calculating the power in the input signals.

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.

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