scholarly journals Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-20 ◽  
Author(s):  
Jesús Enrique Sierra ◽  
Matilde Santos
Keyword(s):  
Intelligent Control ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
System Performance ◽  
Pid Controllers ◽  
External Disturbances ◽  
Disturbance Rejection Control ◽  
Simulation Results ◽  
Quadrotor Unmanned Aerial Vehicles ◽  
Disturbance Estimator

In this work, a new intelligent control strategy based on neural networks is proposed to cope with some external disturbances that can affect quadrotor unmanned aerial vehicles (UAV) dynamics. Specifically, the variation of the system mass during logistic tasks and the influence of the wind are considered. An adaptive neuromass estimator and an adaptive neural disturbance estimator complement the action of a set of PID controllers, stabilizing the UAV and improving the system performance. The control strategy has been extensively tested with different trajectories: linear, helical, circular, and even a lemniscate one. During the experiments, the mass of the UAV is triplicated and winds of 6 and 9 in Beaufort’s scale are introduced. Simulation results show how the online learning of the estimator increases the robustness of the controller, reducing the effects of the changes in the mass and of the wind on the quadrotor.

Design and analysis of improved ADRC controller for multiple grid-connected photovoltaic inverters

2018 ◽  
Vol 32 (34n36) ◽  
pp. 1740103 ◽  
Author(s):  
Yaofei Han ◽  
Guofeng He ◽  
Xiaohong Fan ◽  
Qingyu Zhao ◽  
Huifang Shen
Keyword(s):  
Control Strategy ◽  
Disturbance Rejection ◽  
Internal Model ◽  
Current Waveform ◽  
External Disturbances ◽  
First Order ◽  
External Perturbations ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Simulation Results

When multiple inverters are connected to the grid, due to the uncertainty of the internal model and the presence of external disturbances, the grid-connected current waveform will deviate from the expectation. In this paper, Active Disturbance Rejection Control (ADRC) strategy is presented to suppress the internal and external perturbations, moreover, the first-order ADRC parameters are designed. Finally, MATLAB/Simulink is utilized to verify the control strategy of ADRC. The simulation results demonstrate that the ADRC method can suppress the disturbance effectively.

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.

Time-varying formation control for unmanned aerial vehicles with external disturbances

2019 ◽  
Vol 41 (13) ◽  
pp. 3777-3786 ◽  
Author(s):  
Yu’ang Liu ◽  
Qing Wang ◽  
Chaoyang Dong ◽  
Maopeng Ran
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Formation Control ◽  
Time Varying ◽  
Closed Loop System ◽  
External Disturbances ◽  
Active Disturbance Rejection ◽  
Aerial Vehicles ◽  
Disturbance Rejection Control

Time-varying formation control for unmanned aerial vehicles (UAVs) swarm systems with external disturbances is investigated via active disturbance rejection control (ADRC). The external disturbances are estimated by a designed extended state observer (ESO). Then, a distributed formation control protocol is designed according to the output of ESO, under which the predefined time-varying formation can be achieved. The closed-loop system under the proposed control strategy is analyzed. In addition, the expression of formation center function of the disturbed formation control is also depicted. Finally, numerical instances are simulated in order to demonstrate the validity and superiority of the proposed control strategy.

MPC based active disturbance rejection control for automated steering control

2021 ◽  
pp. 095440702110045
Author(s):  
Suhail Ahmad Suhail ◽  
Mohammad Abid Bazaz ◽  
Shoeb Hussain
Keyword(s):  
Control Strategy ◽  
Vehicle Dynamics ◽  
Disturbance Rejection ◽  
Active Disturbance Rejection Control ◽  
Steering Control ◽  
Tracking Accuracy ◽  
External Disturbances ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Dynamics Simulations

This paper proposes a control strategy for the design of an automated steering control for an autonomous electric vehicle. The proposed Active Disturbance Rejection Control (ADRC) with Model Predective Control (MPC) is not only capable of alleviating the disturbance but also shows robustness against structured uncertainties which may arise due to models that represent the vehicle dynamics. Simulations have been carried out to assess the effectiveness of the proposed control strategy. Simulation results show that the proposed scheme is better in terms of tracking performance than MPC and ADRC. The steering control system, with the proposed strategy, can achieve faster response, higher tracking accuracy, and improved robustness performance in dealing with model uncertainties and external disturbances.

scholarly journals A Control Method for IPMSM Based on Active Disturbance Rejection Control and Model Predictive Control

Mathematics ◽  
2021 ◽  
Vol 9 (7) ◽  
pp. 760
Author(s):  
Fang Liu ◽  
Haotian Li ◽  
Ling Liu ◽  
Runmin Zou ◽  
Kangzhi Liu
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Duty Cycle ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Torque Ripple ◽  
Current Control ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

In this paper, the speed tracking problem of the interior permanent magnet synchronous motor (IPMSM) of an electric vehicle is studied. A cascade speed control strategy based on active disturbance rejection control (ADRC) and a current control strategy based on improved duty cycle finite control set model predictive control (FCSMPC) are proposed, both of which can reduce torque ripple and current ripple as well as the computational burden. First of all, in the linearization process, some nonlinear terms are added into the control signal for voltage compensation, which can reduce the order of the prediction model. Then, the dq-axis currents are selected by maximum torque per ampere (MTPA). Six virtual vectors are employed to FCSMPC, and a novel way to calculate the duty cycle is adopted. Finally, the simulation results show the validity and superiority of the proposed method.

scholarly journals A Control Strategy for Smooth Power Tracking of a Grid-Connected Virtual Synchronous Generator Based on Linear Active Disturbance Rejection Control

Energies ◽  
2019 ◽  
Vol 12 (15) ◽  
pp. 3024 ◽  
Author(s):  
Yaya Zhang ◽  
Jianzhong Zhu ◽  
Xueyu Dong ◽  
Pinchao Zhao ◽  
Peng Ge ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Synchronous Generator ◽  
Active Power ◽  
Energy Resources ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
New Energy ◽  
Simulation Results ◽  
Virtual Synchronous Generator

The power quality of new energy resources has received tremendous attention recently. The control approach for the inverter, an interface between the new energy resources, and the infinite bus system is of vital importance. For the virtual synchronous generator (VSG), one of the research hotspots in the inverter control field, there are some challenges remaining to be dealt with. First is the contradiction between the rapid response and overshoot of active power output if VSG is connected to the grid. Secondly, the active power is deeply influenced by the fluctuation of gird frequency and this may bring power oscillation to VSG in weak grids. In this article, an active power controller for power tracking of grid-connected VSG is designed based on linear active disturbance rejection control (LADRC) by compensating for the lumped disturbance in a feedforward fashion. The parameters of the controller are analyzed and tuned in the frequency domain to acquire a desirable control performance. Moreover, the robustness of the control system is also considered. Simulation results show that the designed control system can transmit active power to the grid in a timely manner with no overshoot, as demanded. Additionally, it can output active power steadily according to the power reference without using a phase-locked loop (PLL) when the grid frequency has different features of fluctuation. In addition, the simulation results demonstrate that the improved VSG has strong robustness to the model parameter perturbation and mismatch.

scholarly journals A Disturbance Rejection Control Strategy of a Single Converter Hybrid Electrical System Integrating Battery Degradation

Energies ◽  
2020 ◽  
Vol 13 (11) ◽  
pp. 2781
Author(s):  
Yue Zhou ◽  
Hussein Obeid ◽  
Salah Laghrouche ◽  
Mickael Hilairet ◽  
Abdesslem Djerdir
Keyword(s):  
Power System ◽  
Hybrid System ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Pass Filter ◽  
Hybrid Power System ◽  
Hybrid Power ◽  
Disturbance Rejection Control ◽  
Cubature Kalman Filter ◽  
Dc Bus

In order to improve the durability and economy of a hybrid power system composed of a battery and supercapacitors, a control strategy that can reduce fluctuations of the battery current is regarded as a significant tool to deal with this issue. This paper puts forwards a disturbance rejection control strategy for a hybrid power system taking into account the degradation of the battery. First, the degradation estimation of the battery is done by the model-driven method based on the degradation model and Cubature Kalman Filter (CKF). Considering the transient and sinusoidal disturbance from the load in such a hybrid system, it is indispensable to smooth the behavior of the battery current in order to ensure the lifespan of the battery. Moreover, the constraints for the hybrid system should be considered for safety purposes. In order to deal with these demands, a cascaded voltage control loop based on a super twisting controller and proportional integral controller with an anti-windup scheme is designed for regulating the DC bus voltage in an inner voltage loop and supercapacitors’ voltage in an outer voltage loop, respectively. The specific feature of the proposed control method is that it operates like a low-pass filter so as to reduce the oscillations on the DC bus.

Decoupling control of high-purity heat integrated distillation column process via active disturbance rejection control and nonlinear wave theory

2020 ◽  
Vol 42 (12) ◽  
pp. 2221-2233 ◽  
Author(s):  
Yun Cheng ◽  
Zengqiang Chen ◽  
Mingwei Sun ◽  
Qinglin Sun
Keyword(s):  
Nonlinear Wave ◽  
Control Strategy ◽  
High Purity ◽  
Disturbance Rejection ◽  
Distillation Column ◽  
Decoupling Control ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Scheme

Although the heat integrated distillation is an energy-efficient and environment-friendly separation technology, it has not been commercialized. One of the reasons is that the nonlinear dynamics and the interactions between various control loops have limited the performance of the traditional control strategy. To achieve a high-purity product concentration, a dynamic decoupling control strategy based on active disturbance rejection control (ADRC) is proposed. The effects of interactions, uncertainties and external disturbances can be estimated and rejected by using extended state observer. Considering the constraints on manipulated variables, an optimized ADRC is designed for the first-order system. Moreover, a concentration observer based on a nonlinear wave model is formulated to reduce the number of sensors. In the simulation research, the related internal model control (IMC), multi-loop ADRC and model predictive control (MPC) are compared with the proposed control scheme. The simulation results demonstrate the advantages of the proposed control scheme on tight control, decoupling performance and disturbance rejection for the high-purity heat integrated distillation column.

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