scholarly journals Neural Network Based Active Disturbance Rejection Control of a Novel Electrohydraulic Servo System for Simultaneously Balancing and Positioning by Isoactuation Configuration

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Qiang Gao ◽  
Yuanlong Hou ◽  
Kang Li ◽  
Zhan Sun ◽  
Chao Wang ◽  
...  
Keyword(s):  
Neural Network ◽  
Disturbance Rejection ◽  
Rbf Neural Network ◽  
External Disturbance ◽  
Nonlinear Behavior ◽  
Hydraulic Cylinder ◽  
Active Disturbance Rejection Control ◽  
System A ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

To satisfy the lightweight requirements of large pipe weapons, a novel electrohydraulic servo (EHS) system where the hydraulic cylinder possesses three cavities is developed and investigated in the present study. In the EHS system, the balancing cavity of the EHS is especially designed for active compensation for the unbalancing force of the system, whereas the two driving cavities are employed for positioning and disturbance rejection of the large pipe. Aiming at simultaneously balancing and positioning of the EHS system, a novel neural network based active disturbance rejection control (NNADRC) strategy is developed. In the NNADRC, the radial basis function (RBF) neural network is employed for online updating of parameters of the extended state observer (ESO). Thereby, the nonlinear behavior and external disturbance of the system can be accurately estimated and compensated in real time. The efficiency and superiority of the system are critically investigated by conducting numerical simulations, showing that much higher steady accuracy as well as system robustness is achieved when comparing with conventional ADRC control system. It indicates that the NNADRC is a very promising technique for achieving fast, stable, smooth, and accurate control of the novel EHS system.

scholarly journals Research on variable mass control of series manipulator based on linear active disturbance rejection control

2020 ◽  
Vol 53 (7-8) ◽  
pp. 1194-1202
Author(s):  
Jianzhong Huang ◽  
Yuwan Cen
Keyword(s):  
Natural Frequency ◽  
Disturbance Rejection ◽  
Position Control ◽  
External Disturbance ◽  
Variable Mass ◽  
Hydraulic Cylinder ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Hydraulic Manipulator

The series manipulator of the demolition robot has different working postures and large self-weight so that the bearing mass of the joint hydraulic cylinder is a variable value, and the change of mass affects the dynamic characteristics of the valve-controlled hydraulic cylinder system. In this paper, an equivalent mass estimation method of the big-arm joint hydraulic cylinder is given, and the natural frequency range of the big-arm hydraulic cylinder-load system is calculated. In order to suppress the influence of the change of the natural frequency and external disturbance of the hydraulic cylinder on the system, the linear active disturbance rejection control is adopted in the closed-loop position control. The simulation results show that the change of load mass of the joint hydraulic cannot be ignored when designing the joint position controller of multi-joint hydraulic manipulator. And the simulation tests prove that the linear active disturbance rejection control strategy keeps good dynamic characteristic and steady-state accuracy for the change of natural frequency and external disturbance of hydraulic cylinder and has good tracking performance for periodic sinusoidal signal. Linear active disturbance rejection control is robust in the variable mass control of the manipulator and meets the requirements of the joint position control of the heavy-duty hydraulic manipulator.

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.

On External Disturbance Rejection of Linear ADRC

2019 ◽  
Author(s):  
Huiyu Jin ◽  
Yang Chen ◽  
Weiyao Lan
Keyword(s):  
High Frequency ◽  
Disturbance Rejection ◽  
Bandpass Filter ◽  
External Disturbance ◽  
Low Frequency ◽  
Second Order ◽  
Control Technology ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Abstract Active disturbance rejection control (ADRC) is a quickly developing practical control technology while its ability to reject external disturbance is necessary to investigate deeply. Focusing on the simple case that the plant is an exactly known second order plant, this paper investigates the external disturbance rejection of linear ADRC. It reveals a separation diagram, in which the external disturbance goes into the output via a bandpass filter. That is the reason why linear ADRC can reject both low-frequency and high-frequency external disturbance.

A Design of Active-Disturbance-Rejection Control of Loitering Unit

2013 ◽  
Vol 373-375 ◽  
pp. 1533-1540
Author(s):  
Xiao Dong Yuan ◽  
Tie Ying Jiang ◽  
Bing Li
Keyword(s):  
Flight Control ◽  
Disturbance Rejection ◽  
Control Method ◽  
Rbf Neural Network ◽  
Initial Period ◽  
Adjustment Process ◽  
Active Disturbance Rejection Control ◽  
Rejection Algorithm ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

As the problem that loitering unit is vulnerable to stall because of air turbulence in the initial period of posture adjustment process, this paper is based on the classic flight control and the active-disturbance-rejection control principle, and uses the method of ADRC which based on RBF neural network. It designs the ADRC for the attitude adjustment of loitering unit in the initial period, and compares it with the classic flight control algorithm and the active-disturbance-rejection algorithm. Through the contrast of the control simulation for the three control algorithms we can obtain that, RBF ADRC is superior to ADRC control method and the classic flight control method.

scholarly journals Autonomous underwater vehicle depth control based on an improved active disturbance rejection controller

2019 ◽  
Vol 16 (6) ◽  
pp. 172988141989153
Author(s):  
Zhengzheng Zhang ◽  
Bingyou Liu ◽  
Lichao Wang
Keyword(s):  
Disturbance Rejection ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
External Disturbance ◽  
Underwater Vehicle ◽  
Active Disturbance Rejection Control ◽  
Optimal Control Strategy ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Depth Control

Large fluctuation, large overshoot, and uncertain external disturbance that occur when an autonomous underwater vehicle is in deep motion are difficult to address using the traditional control method. An optimal control strategy based on an improved active disturbance rejection control technology is proposed to enhance the trajectory tracking accuracy of autonomous underwater vehicles in actual bathymetric operations and resist external and internal disturbances. First, the depth motion and mathematical models of an autonomous underwater vehicle and propeller are established, respectively. Second, the control rate of the extended state observer and the nonlinear error feedback of the traditional active disturbance rejection control are improved by using a new nonlinear function. The nonlinearity, model uncertainty, and external disturbance of the autonomous underwater vehicle depth control system are extended to a new state, which is realized by an improved extended state observer. Third, the improved nonlinear state error feedback is used to suppress residual errors and provide high-quality control for the system. Simulation and experimental results show that under the same parameters, the traditional active disturbance rejection control has a small overshoot, fast tracking ability, and strong anti-interference ability. The optimized active disturbance rejection control and traditional active disturbance rejection control are applied to the deep-variation motion of autonomous underwater vehicles. Results show that the proposed optimal control strategy is not only simple and feasible but also demonstrates good control performance.

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