scholarly journals Variable Structure Disturbance Rejection Control for Nonlinear Uncertain Systems with State and Control Delays via Optimal Sliding Mode Surface Approach

2013 ◽  
Vol 2013 ◽  
pp. 1-16
Author(s):  
Jing Lei ◽  
Xin Wang ◽  
Yu-Mei She ◽  
Tian-Jun Zhang
Keyword(s):  
Disturbance Rejection ◽  
Sliding Mode ◽  
Feedforward Control ◽  
Variable Structure ◽  
Delay System ◽  
The State ◽  
Surface Approach ◽  
Disturbance Rejection Control ◽  
And Control ◽  
Control Delays

The paper considers the problem of variable structure control for nonlinear systems with uncertainty and time delays under persistent disturbance by using the optimal sliding mode surface approach. Through functional transformation, the original time-delay system is transformed into a delay-free one. The approximating sequence method is applied to solve the nonlinear optimal sliding mode surface problem which is reduced to a linear two-point boundary value problem of approximating sequences. The optimal sliding mode surface is obtained from the convergent solutions by solving a Riccati equation, a Sylvester equation, and the state and adjoint vector differential equations of approximating sequences. Then, the variable structure disturbance rejection control is presented by adopting an exponential trending law, where the state and control memory terms are designed to compensate the state and control delays, a feedforward control term is designed to reject the disturbance, and an adjoint compensator is designed to compensate the effects generated by the nonlinearity and the uncertainty. Furthermore, an observer is constructed to make the feedforward term physically realizable, and thus the dynamical observer-based dynamical variable structure disturbance rejection control law is produced. Finally, simulations are demonstrated to verify the effectiveness of the presented controller and the simplicity of the proposed approach.

Adaptive output-feedback robust active disturbance rejection control for uncertain quadrotor with unknown disturbances

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Nigar Ahmed ◽  
Syed Awais Ali Shah
Keyword(s):  
Output Feedback ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
The State ◽  
Active Disturbance Rejection Control ◽  
State Variables ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Attitude Model

PurposeIn this research paper, an adaptive output-feedback robust active disturbance rejection control (RADRC) is designed for the multiple input multiple output (MIMO) quadrotor attitude model subject to unwanted uncertainties and disturbances (UUDs).Design/methodology/approachIn order to achieve the desired control objectives in the presence of UUDs, the low pass filter (LPF) and extended high gain observer (EHGO) methods are used for the estimation of matched and mismatched UUDs, respectively. Furthermore, for solving the chattering incurred in the standard sliding mode control (SMC), a multilayer sliding mode surface is constructed. For formulating the adaptive output-feedback RADRC algorithm, the EHGO, LPF and SMC schemes are combined using the separation principle.FindingsThe findings of this research work include the design of an adaptive output-feedback RADRC with the ability to negate the UUDs as well as estimate the unknown states of the quadrotor attitude model. In addition, the chattering problem is addressed by designing a modified SMC scheme based on the multilayer sliding mode surface obtained by utilizing the estimated state variables. This sliding mode surface is also used to obtain the adaptive criteria for the switching design gain parameters involved in the SMC. Moreover, the requirement of high design gain parameters in the EHGO is solved by combining it with the LPF.Originality/valueDesigning the flight control techniques while assuming that the state variables are available is a common practice. In addition, to obtain robustness, the SMC technique is widely used. However, in practice, the state variables might not be available due to unknown parameters and uncertainties, as well as the chattering due to SMC reduces the performances of the actuators. Hence, in this paper, an adaptive output-feedback RADRC technique is designed to solve the problems of UUDs and chattering.

Disturbance Rejection for Discrete-Time Linear Systems with Time-Delays via Internal Model Principle

2014 ◽  
Vol 590 ◽  
pp. 478-481
Author(s):  
Shao Ting Ge ◽  
Zhi Min Liu ◽  
Xue Xia Gao ◽  
Mei Xing Wang ◽  
Yu Qing Feng
Keyword(s):  
Linear Systems ◽  
Discrete Time ◽  
Disturbance Rejection ◽  
Delay System ◽  
Time Delay System ◽  
State Delay ◽  
Internal Model Principle ◽  
Disturbance Rejection Control ◽  
And Control ◽  
Time Linear

The disturbance rejection problem for discrete-time linear systems with both state delay and control delay is considered. Using a model transformation, the time-delay system is transformed into a nondelayed system. The disturbance rejection control law is obtained by solving its optimal regulation problem.

scholarly journals Robust Output Feedback Disturbance Rejection Control by Simultaneously Estimating State and Disturbance

2011 ◽  
Vol 2011 ◽  
pp. 1-13 ◽  
Author(s):  
Jeang-Lin Chang
Keyword(s):  
Disturbance Rejection ◽  
Sliding Mode ◽  
Estimation Error ◽  
Original System ◽  
Small Region ◽  
The State ◽  
Descriptor System ◽  
Simultaneous Estimation ◽  
Disturbance Rejection Control ◽  
Unknown Disturbance

This paper tackles the problem of simultaneous estimation of the state and the unknown disturbance of an MIMO disturbed system and designs the disturbance rejection controller according to the estimation information. Through a series of transformations, we can transform the original system into two subsystems and then propose a sliding mode observer and a descriptor system form observer, respectively. Our algorithm can simultaneously estimate the state and the unknown disturbance. The estimation error is shown to be bounded within a small region. Moreover, the controller algorithm developed in this paper can effectively avoid the peaking phenomenon. Finally, the feasibility and the performance using the proposed method are analyzed and demonstrated with two simulated examples.

Simulation of Control System for Permanent Magnet Synchronous Machine

2011 ◽  
Vol 66-68 ◽  
pp. 1422-1427
Author(s):  
Ting You ◽  
Pei Jiang Li
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Permanent Magnet ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Synchronous Machine ◽  
Permanent Magnet Synchronous Machine ◽  
Mode Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

For optimal control of synchronous machine, chattering phenomenon will appear if traditional slider control is adopted because permanent magnet synchronous machine is a complex nonlinear time-dependent system with strong coupling of current and rotational speed to cause the deterioration of system control performance with load or load disturbance. In this article, based on the mathematical model of permanent magnet synchronous machine, a control system for it, which combines sliding mode control and active disturbance rejection control, is proposed to improve the dynamic performance and robustness of control system. In the control system, sliding mode control is adopted to control the inner current of machine and active disturbance rejection control is adopted to control the outer speed. The load disturbance of system is also estimated and offset. The results of matlab simulation show that the control system can eliminate serious chattering phenomenon existing in sliding mode control, improves the robustness of system for load and system parameter disturbance as well as has great dynamic and static performance.

scholarly journals High-Order Sliding Mode-Based Fixed-Time Active Disturbance Rejection Control for Quadrotor Attitude System

Electronics ◽  
2018 ◽  
Vol 7 (12) ◽  
pp. 357 ◽  
Author(s):  
Chunlin Song ◽  
Changzhu Wei ◽  
Feng Yang ◽  
Naigang Cui
Keyword(s):  
Disturbance Rejection ◽  
Sliding Mode ◽  
Fixed Time ◽  
High Order ◽  
Extended State Observer ◽  
Active Disturbance Rejection Control ◽  
Extended State ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Scheme

This article presents a fixed-time active disturbance rejection control approach for the attitude control problem of quadrotor unmanned aerial vehicle in the presence of dynamic wind, mass eccentricity and an actuator fault. The control scheme applies the feedback linearization technique and enhances the performance of the traditional active disturbance rejection control (ADRC) based on the fixed-time high-order sliding mode method. A switching-type uniformly convergent differentiator is used to improve the extended state observer for estimating and attenuating the lumped disturbance more accurately. A multivariable high-order sliding mode feedback law is derived to achieve fixed time convergence. The timely convergence of the designed extended state observer and the feedback law is proved theoretically. Mathematical simulations with detailed actuator models and real time experiments are performed to demonstrate the robustness and practicability of the proposed control scheme.

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.

Fuzzy sliding mode based active disturbance rejection control for active suspension system

2019 ◽  
Vol 234 (2-3) ◽  
pp. 449-457
Author(s):  
Haoping Wang ◽  
Yeqing Lu ◽  
Yang Tian ◽  
Nicolai Christov
Keyword(s):  
Disturbance Rejection ◽  
Ride Comfort ◽  
Actuator Saturation ◽  
Sliding Mode ◽  
Suspension System ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Car Suspension ◽  
Disturbance Rejection Control ◽  
Fuzzy Sliding Mode

This article deals with the control problem of 7-degrees of freedom full-car suspension system which takes into account the spring-damper nonlinearities, unmodeled dynamics and external disturbances. The existing active disturbance rejection control uses an extended state observer to estimate the “total disturbance” and eliminate it with state error feedback. In this article, a new type of active disturbance rejection control is developed to improve the ride comfort of full car suspension systems taking into account the suspension nonlinearities and actuator saturation. The proposed controller combines active disturbance rejection control and fuzzy sliding mode control and is called Fuzzy Sliding Mode active disturbance rejection control. To validate the system mathematical model and analyze the controller performance, a virtual prototype is built in Adams. The simulation results demonstrate better performance of Fuzzy Sliding Mode active disturbance rejection control compared to the existing active disturbance rejection control.

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