scholarly journals ADRC-Based Control Method for the Vascular Intervention Master–Slave Surgical Robotic System

Micromachines ◽  
2021 ◽  
Vol 12 (12) ◽  
pp. 1439
Author(s):  
Wei Zhou ◽  
Shuxiang Guo ◽  
Jin Guo ◽  
Fanxu Meng ◽  
Zhengyang Chen
Keyword(s):  
Control Method ◽  
Tracking Error ◽  
Robotic System ◽  
X Rays ◽  
Tracking Accuracy ◽  
Vascular Intervention ◽  
Surgical Safety ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Vascular Interventional Surgery

In vascular interventional surgery, surgeons operate guidewires and catheters to diagnose and treat patients with the assistance of the digital subtraction angiography (DSA). Therefore, the surgeon will be exposed to X-rays for extended periods. To protect the surgeon, the development of a robot-assisted surgical system is of great significance. The displacement tracking accuracy is the most important issue to be considered in the development of the system. In this study, the active disturbance rejection control (ADRC) method is applied to guarantee displacement tracking accuracy. First, the core contents of the proportional–integral–derivative (PID) and ADRC methods are analyzed. Second, comparative evaluation experiments for incremental PID and ADRC methods are presented. The results show that the ADRC method has better performance of than that of the incremental PID method. Finally, the calibration experiments for the ADRC control method are implemented using the master–slave robotic system. These experiments demonstrate that the maximum tracking error is 0.87 mm using the ADRC method, effectively guaranteeing surgical safety.

Linear-extended-state-observer-based prescribed performance control for trajectory tracking of a robotic manipulator

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Bingjie Xu ◽  
Shuai Ji ◽  
Chengrui Zhang ◽  
Chao Chen ◽  
Hepeng Ni ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Error ◽  
Robotic Manipulator ◽  
Tracking Accuracy ◽  
Content Type ◽  
Prescribed Performance ◽  
Active Disturbance Rejection ◽  
Prescribed Performance Control ◽  
Disturbance Rejection Control ◽  
Linear Extended State Observer

Purpose Trajectory tracking error of robotic manipulator has limited its applications in trajectory tracking control systems. This paper aims to improve the trajectory tracking accuracy of robotic manipulator, so a linear-extended-state-observer (LESO)-based prescribed performance controller is proposed. Design/methodology/approach A prescribed performance function with the convergence rate, maximum overshoot and steady-state error is derived for the output error transformation, whose stability can guarantee trajectory tracking accuracy of the original robotic system. A LESO is designed to estimate and eliminate the total disturbance, which neither requires a detailed system model nor a heavy computation load. The stability of the system is proved via the Lyapunov theory. Findings Comparative experimental results show that the proposed controller can achieve better trajectory tracking accuracy than proportional-integral-differential control and linear active disturbance rejection control. Originality/value In the LESO-based prescribed performance control (PPC), the LESO was incorporated into the PPC design, it solved the problem of stabilizing the complex transformed system and avoided the costly offline identification of dynamic model and estimated and eliminated the total disturbance in real-time with light computational burden. LESO-based PPC further improved control accuracy on the basis of linear-active-disturbance-rejection-control. The new proposed method can reduce the trajectory tracking error of the robotic manipulators effectively on the basis of simplicity and stability.

Study on Linear Active Disturbance Rejection Control Technique and its Application in Ship-Borne Servo Control System

2014 ◽  
Vol 532 ◽  
pp. 46-49
Author(s):  
Dong Xu Zhu ◽  
Gang Fu ◽  
Yang Liu ◽  
Qian He
Keyword(s):  
Control System ◽  
Disturbance Rejection ◽  
Control Method ◽  
Good Control ◽  
Servo Control ◽  
Control Technique ◽  
Tracking Accuracy ◽  
Active Disturbance Rejection ◽  
Servo Control System ◽  
Disturbance Rejection Control

In order to improve the rejection ability of the boat rocking disturbance and wind load disturbance on Ship-borne Servo Control System, the position linear ADRC (LADRC) is designed. First, mathematical model of Ship-borne Servo Control System is established, and PID control method is used for simulation. Methods used LADRC, estimated and compensated the wind disturbances and boats rocking disturbances, greatly. The simulation results show that ADRC method for active immunity, which greatly improves the immunity system and tracking accuracy, and the parameter adjustment is simple, just adjust a parameter can get good control performance.

Stability control for end effect of mobile manipulator in uneven terrain based on active disturbance rejection control

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Chuang Cheng ◽  
Hui Zhang ◽  
Hui Peng ◽  
Zhiqian Zhou ◽  
Bailiang Chen ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
External Disturbance ◽  
Stability Control ◽  
Mobile Manipulator ◽  
Active Disturbance Rejection Control ◽  
End Effector ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Purpose When the mobile manipulator is traveling on an unconstructed terrain, the external disturbance is generated. The load on the end of the mobile manipulator will be affected strictly by the disturbance. The purpose of this paper is to reject the disturbance and keep the end effector in a stable pose all the time, a control method is proposed for the onboard manipulator. Design/methodology/approach In this paper, the kinematics and dynamics models of the end pose stability control system for the tracked robot are built. Through the guidance of this model information, the control framework based on active disturbance rejection control (ADRC) is designed, which keeps the attitude of the end of the manipulator stable in the pitch, roll and yaw direction. Meanwhile, the control algorithm is operated with cloud computing because the research object, the rescue robot, aims to be lightweight and execute work with remote manipulation. Findings The challenging simulation experiments demonstrate that the methodology can achieve valid stability control performance in the challenging terrain road in terms of robustness and real-time. Originality/value This research facilitates the stable posture control of the end-effector of the mobile manipulator and maintains it in a suitable stable operating environment. The entire system can normally work even in dynamic disturbance scenarios and uncertain nonlinear modeling. Furthermore, an example is given to guide the parameter tuning of ADRC by using model information and estimate the unknown internal modeling uncertainty, which is difficult to be modeled or identified.

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.

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

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 ◽  
Active Disturbance Rejection Control ◽  
Compound Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection 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.

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

2019 ◽  
Vol 103 (1) ◽  
pp. 003685041988356
Author(s):  
Nan Sang ◽  
Lele Chen
Keyword(s):  
Pid Control ◽  
Disturbance Rejection ◽  
Tracking Error ◽  
Lateral Acceleration ◽  
Active Disturbance Rejection Control ◽  
Vehicle Model ◽  
Active Disturbance Rejection ◽  
Active Front Steering ◽  
Disturbance Rejection Control ◽  
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.

scholarly journals Fractional-Order PID Controller for Active Power Filter Using Active Disturbance Rejection Control

2019 ◽  
Vol 2019 ◽  
pp. 1-10
Author(s):  
Nixuan Liu ◽  
Siqi Cao ◽  
Juntao Fei
Keyword(s):  
Fractional Order ◽  
Disturbance Rejection ◽  
Pid Controller ◽  
Control Method ◽  
Active Power Filter ◽  
Power Filter ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Fractional Order Pid ◽  
Fractional Order Pid Controller

This paper proposed a fractional-order PID controller and active disturbance rejection control (ADRC) method for the current compensation of active power filter (APF). The control method consists of two closed loops. One is a reference current tracking loop based on the ADRC controller, which can treat the internal and external uncertainties of the system as a whole. The other is the voltage control loop with the fractional-order PID controller for more flexibility. Simulation results demonstrate that the proposed control method has a stronger robustness and higher compensating precision comparing with the double-loop PID control method.

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

2019 ◽  
Vol 2019 ◽  
pp. 1-20 ◽  
Author(s):  
Chenyang Xu ◽  
Humin Lei ◽  
Na Lu
Keyword(s):  
Disturbance Rejection ◽  
Tracking Error ◽  
Hypersonic Vehicles ◽  
Active Disturbance Rejection Control ◽  
Parameter Uncertainties ◽  
Performance Function ◽  
Air Breathing ◽  
Prescribed Performance ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

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.

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

2019 ◽  
Vol 233 (13) ◽  
pp. 3554-3576 ◽  
Author(s):  
Naser Esmaeili ◽  
Reza Kazemi
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Sliding Mode ◽  
Active Disturbance Rejection Control ◽  
Positive Effects ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
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.

Sign in / Sign up

Export Citation Format

Share Document