Extended‐state‐observer‐based dynamic surface control of flexible‐joint robot systems with input saturation

2021 ◽  
Author(s):  
Lian Chen ◽  
Qing Wang
Keyword(s):  
Input Saturation ◽  
Dynamic Surface Control ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Dynamic Surface ◽  
Flexible Joint ◽  
Surface Control ◽  
Robot Systems

Robust dynamic surface control of vehicle lateral dynamics using disturbance estimation

2018 ◽  
Vol 233 (5) ◽  
pp. 1081-1099 ◽  
Author(s):  
Mehran Hosseini-Pishrobat ◽  
Mirali Seyedzavvar ◽  
Mohammad Ali Hamed
Keyword(s):  
Longitudinal Velocity ◽  
Dynamic Surface Control ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Dynamic Surface ◽  
Lateral Dynamics ◽  
Disturbance Estimation ◽  
Surface Control ◽  
Vehicle Lateral Dynamics

This paper reports a disturbance estimation-based dynamic surface control method for stabilizing vehicle lateral dynamics through yaw moment control. Based on the single track vehicle model, an uncertain model of the vehicle lateral dynamics is developed which represents the effect of parametric uncertainty and lateral tire force nonlinearity by mismatched, lumped total disturbances. In this model, the longitudinal velocity of the vehicle is considered as a time-varying parameter. Using the developed mathematical vehicle model, an extended state observer is proposed to estimate the total disturbance signals. Next, a dynamic surface controller is designed with the objective of tracking the desired lateral velocity generated by a linear two-degrees-of-freedom vehicle dynamics. The dynamic surface controller uses the estimated disturbances of the extended state observer as feedforward inputs to compensate for the effects of the total disturbances. To achieve an improved robust performance against disturbance estimation errors, the [Formula: see text] control technique is incorporated into the DSC design. To this end, using a norm-bounded representation of the longitudinal velocity, the control design is formulated as the feasibility of a finite number of linear matrix inequalities. The stability and robustness of the extended state observer and the dynamic surface control systems are analyzed in a Lyapunov framework and the required mathematical proofs are presented. Considering a lane change and a J-turn maneuver, extensive numerical simulations are performed to show the effectiveness of the proposed control system. The results confirm the improved performance of the closed-loop system compared to the open-loop one, in various driving and road conditions.

scholarly journals Modeling and Extended State Observer Based Dynamic Surface Control for Cold Rolling Mill System

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
Xu Li ◽  
Xin Zhang
Keyword(s):  
Cold Rolling ◽  
Rolling Mill ◽  
Dynamic Surface Control ◽  
State Observer ◽  
High Order ◽  
Extended State Observer ◽  
Extended State ◽  
Cold Rolling Mill ◽  
Dynamic Surface ◽  
Surface Control

The modeling and control problems are investigated for cold rolling mill system. Firstly, we establish a monitor automatic gauge control (MAGC) model for a practical cold rolling mill system. The new model is with mismatched uncertainties. Then, an extended state observer (ESO) is developed to estimate uncertainties. In the general high-order systems, the ESO is also used to estimate states. By dynamic surface control method, we design the controller to guarantee stabilization of the cold rolling mill system. Furthermore, we extend proposed method to general high-order systems, in which we analyze the difference from cold rolling mill system. Finally, simulation results for MAGC system are presented to demonstrate the effectiveness of the proposed control strategy.

Altitude and attitude active disturbance rejection controller design of a quadrotor unmanned aerial vehicle

2016 ◽  
Vol 231 (9) ◽  
pp. 1732-1745 ◽  
Author(s):  
Jingxin Dou ◽  
Xiangxi Kong ◽  
Bangchun Wen
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Disturbance Rejection ◽  
Dynamic Surface Control ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Dynamic Surface ◽  
Active Disturbance Rejection ◽  
Surface Control ◽  
Aerial Vehicle

This paper presents a new active disturbance rejection controller to solve the altitude and attitude control problem for a quadrotor unmanned aerial vehicle. The proposed method requires only the output information of the system. Using the pitch subsystem as an example, the proposed controller is designed by using dynamic surface control strategy incorporated with tracking differentiator, and extended state observer, which is used to estimate the uncertain disturbance. The estimate states of extended state observer are used to design the dynamic surface control law for altitude and attitude tracking problem of the quadrotor unmanned aerial vehicle. The stability analysis proves that a sufficient condition of the asymptotic stability of the extended state observer is achieved, the asymptotic stability of the closed-loop system can be guaranteed, and the tracking feedback error can made arbitrarily small by adjusting the controller parameters. Several simulation results are presented to corroborate that the proposed control method has better effectiveness and robustness.

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