Application of Nonlinear Active Disturbance Rejection Control to One-DOF Electrostatic Actuators

2017 ◽  
Author(s):  
Prasanth B. Kandula ◽  
Lili Dong
Keyword(s):  
Disturbance Rejection ◽  
High Gain ◽  
Control Effort ◽  
Electrostatic Actuators ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Goal ◽  
Modeling Uncertainties ◽  
Non Linear ◽  
The One

In this paper, a non-linear active disturbance rejection controller (NADRC) is designed and originally applied to a non-linear one-degree-of-freedom electrostatic actuator (ESA). The imperfections of micro-fabrication and micro-packaging result in the modeling uncertainties of ESA. In addition, the ESA is inherently unstable due to pull-in phenomenon. So our control goal is to overcome the pull-in instability of ESA and achieve 99.99% of its full travel range despite of the presence of uncertainty. The NADRC consists of an extended state observer (ESO) and a feedback controller. Two kinds of ESOs are developed in this paper. They are high gain ESO (HG ESO) and the ESO with Fal nonlinearity (FAL ESO). The NADRC is independent of accurate model information, and therefore is a suitable controller for the uncertain ESA. The NADRCs with two different ESOs are simulated on the nonlinear ESA. A comparison study is conducted between both ESOs in terms of control performance and stability. The simulation results demonstrate the controllers with both ESOs reach our control goal successfully. While the NADRC with HG ESO generates larger control effort than the one with FAl ESO, the former is more robust against parameter variations and disturbance than the later.

Non-linear active disturbance rejection control for upper limb rehabilitation exoskeleton

2020 ◽  
pp. 095965182095457
Author(s):  
Sumit Aole ◽  
Irraivan Elamvazuthi ◽  
Laxman Waghmare ◽  
Balasaheb Patre ◽  
Fabrice Meriaudeau
Keyword(s):  
Upper Limb ◽  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Active Disturbance Rejection Control ◽  
Upper Limb Rehabilitation ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Flexion Extension ◽  
Non Linear ◽  
Limb Rehabilitation

Trajectory tracking in upper limb rehabilitation exercises is utilized for repeatability of joint movement to improve the patient’s recovery in the early stages of rehabilitation. In this article, non-linear active disturbance rejection control as a combination of non-linear extended-state observer and non-linear state error feedback is used for the sinusoidal trajectory tracking control of the two-link model of an upper limb rehabilitation exoskeleton. The two links represent movements like flexion/extension for both the shoulder joint and the elbow joint in the sagittal plane. The Euler–Lagrange method was employed to acquire a dynamic model of an upper limb rehabilitation exoskeleton. To examine the efficacy and robustness of the proposed method, four disturbances cases in simulation studies with 20% parameter variation were applied. It was found that the non-linear active disturbance rejection control is robust against disturbances and achieves better tracking as compared to proportional–integral–derivative and existing conventional active disturbance rejection control method.

Motion-based active disturbance rejection control for a non-linear full-car suspension system

2017 ◽  
Vol 232 (5) ◽  
pp. 616-631 ◽  
Author(s):  
Panshuo Li ◽  
James Lam ◽  
Kie Chung Cheung
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Reference Signal ◽  
Suspension System ◽  
Ride Quality ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Car Suspension ◽  
Disturbance Rejection Control ◽  
Non Linear

This paper investigates the vibration attenuation problem of a non-linear full-car suspension system and aims to stabilize the vehicle attitude to provide a good ride quality. First, with respect to heave motion, pitch motion and roll motion, the full-car suspension system is separated into three interconnected subsystems. For each subsystem, corresponding motion-based controllers are designed to attenuate the vibrations of the sprung mass. A non-linear tracking differentiator is used to track the reference signal and to obtain its derivative. An extended state observer is established to estimate the total disturbance, which includes all the uncertainties and the external disturbance. Based on the principle of active disturbance rejection control, proportional–derivative and fuzzy proportional–derivative controllers are designed to control the resulting linear system with total disturbance compensation. Finally, four actuator forces are computed online using the three motion-based controllers obtained. Simulations are carried out in different road conditions; the results illustrate the merits of the proposed control method.

scholarly journals A Set of Active Disturbance Rejection Controllers Based on Integrator Plus Dead-Time Models

2021 ◽  
Vol 11 (4) ◽  
pp. 1671
Author(s):  
Mikulas Huba ◽  
Paulo Moura Oliveira ◽  
Pavol Bistak ◽  
Damir Vrancic ◽  
Katarina Žáková
Keyword(s):  
Disturbance Rejection ◽  
Dead Time ◽  
Point Of View ◽  
State Variables ◽  
Input Output ◽  
Distributed Parameters ◽  
Active Disturbance Rejection ◽  
State Observers ◽  
Disturbance Rejection Control ◽  
The One

The paper develops and investigates a novel set of constrained-output robust controllers with selectable response smoothing degree designed for an integrator-plus-dead-time (IPDT) plant model. The input-output response of the IPDT system is internally approximated by several time-delayed, possibly higher-order plant models of increasing complexity. Since they all contain a single integrator, the presented approach can be considered as a generalization of active disturbance rejection control (ADRC). Due to the input/output model used, the controller commissioning can be based on a simplified process modeling, similar to the one proposed by Ziegler and Nichols. This allows it to be compared with several alternative controllers commonly used in practice. Its main advantage is simplicity, since it uses only two identified process parameters, even when dealing with more complex systems with distributed parameters. The proposed set of controllers with increasing complexity includes the stabilizing proportional (P), proportional-derivative (PD), or proportional-derivative-acceleration (PDA) controllers. These controllers can be complemented by extended state observers (ESO) for the reconstruction of all required state variables and non-measurable input disturbances, which also cover imperfections of a simplified plant modeling. A holistic performance evaluation on a laboratory heat transfer plant shows interesting results from the point of view of the optimal least sensitive solution with smooth input and output.

Modified active disturbance rejection control for non-linear semi-active vehicle suspension with magneto-rheological damper

2017 ◽  
Vol 40 (8) ◽  
pp. 2611-2621 ◽  
Author(s):  
Mingxing Cheng ◽  
Xiaohong Jiao
Keyword(s):  
Disturbance Rejection ◽  
Ride Comfort ◽  
Control Strategies ◽  
Active Suspension ◽  
The Body ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Road Disturbance ◽  
Non Linear

This paper presents a novel idea processing the complex non-linear dynamics of a magneto-rheological (MR) damper and the external road disturbance based on the linear extended state observer (LESO) technology, and further verifies its reasonability by application of linear active disturbance rejection control (LADRC) in the quarter-car non-linear semi-active suspension system. In order to optimize the body acceleration and dynamic tyre load to improve the ride comfort and road-handling ability, a modified active disturbance rejection control, the double linear active disturbance rejection control (DLADRC), is further proposed based on the idea of the hybrid skyhook–groundhook control strategy. LESO is used to estimate the total disturbance including the external road disturbance and the internal non-linear dynamic of the MR damper. For effectiveness validation of the proposed control scheme, comparison results with the existing linear quadratic regulation (LQR) control, hybrid skyhook–groundhook control and adaptive control strategies are presented for the same quarter-car semi-active suspension. It is shown from the simulation comparisons among these several control strategies that the semi-active suspension system with DLADRC has a better control performance on the ride comfort and road-handling ability corresponding to the body acceleration and dynamic tyre load.

AUV’s Executer Fault-Tolerant Control Based on ADRC

2014 ◽  
Vol 1006-1007 ◽  
pp. 581-585 ◽  
Author(s):  
Lei Wan ◽  
Ying Hao Zhang ◽  
Yu Shan Sun ◽  
Yue Ming Li
Keyword(s):  
Control Strategy ◽  
Pid Control ◽  
Disturbance Rejection ◽  
Control Method ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Simulation Results ◽  
The One

An autonomous under vehicle (AUV) should have the ability of self-saving and finishing the certain targets when faults occur, which means that an AUV must have the ability of fault-tolerant control. In order to make it possible, one AUV’s fault-tolerant control strategy is made, which is based on the active disturbance rejection control (ADRC). In this paper, the control method in normal and the one in fault are offered respectively. Besides that, one simulation compared with PID control is made. The simulation results show the AUV’s fault-tolerant control strategy based on ADRC can achieve the goal and has better control results to restrain the shock, overshoot and other phenomena caused by disturbance than the strategy based on PID.

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 Sliding Mode Active Disturbance Rejection Control for Magnetorheological Impact Buffer System

2021 ◽  
Vol 8 ◽  
Author(s):  
Bin Wang ◽  
Wanjun Wang ◽  
Zhaochun Li
Keyword(s):  
Pid Control ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Mr Damper ◽  
High Gain ◽  
Buffer System ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Hysteresis Nonlinearity

In the magnetorheological (MR) impact buffer system, the internal or external disturbance of the MR damper is one of the main factors that affect the buffer performance of the system. This study aims to suppress or eliminate the influence of the disturbance of the MR damper. The continuous terminal sliding mode control (CTSMC) strategy with a high gain has a strong antidisturbance ability. However, the high gain may cause fluctuation of the damping force of the system. Therefore, a composite control strategy of sliding mode active disturbance rejection control (ADRC) based on an extended state observer (ESO) is proposed in this study. The total disturbance of the system is estimated by the ESO in real time, and the estimated disturbance is used as a feedforward compensation to the controller to reduce the influence of disturbance on the system. The gain of the CTSMC law of the closed-loop system can be reduced. In addition, the Lyapunov stability criterion is used to ensure the stability of the proposed controller. In order to verify the performance of the proposed CTSMC controller on response speed, overshoot, and hysteresis suppression ability, the window function, square wave function, and multistep function are given as the inputs of the control system. To verify the performance of the proposed sliding mode ADRC for the MR impact buffer system, the mechanical model and the control model are established and simulated using MATLAB/Simulink. The simulation results show that the CTSMC controller has the fastest response time and no overshoot and can suppress the hysteresis nonlinearity of the MR device compared with the open-loop control, PID control, and fractional order PID control. The MR impact buffer system with the sliding mode ADRC obtained the minimum peak value of 4350N within the permitted buffer displacement range compared with the other three traditional control methods. That means the proposed control method in this study has the advantage on buffer performance for the MR impact buffer system.

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