scholarly journals Adaptive Fuzzy Active-Disturbance Rejection Control-Based Reconfiguration Controller Design for Aircraft Anti-Skid Braking System

Actuators ◽  
2021 ◽  
Vol 10 (8) ◽  
pp. 201
Author(s):  
Zhao Zhang ◽  
Zhong Yang ◽  
Guoxing Zhou ◽  
Shuchang Liu ◽  
Dongsheng Zhou ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Controller Design ◽  
External Disturbance ◽  
Strong Nonlinearity ◽  
Active Disturbance Rejection Control ◽  
Adaptive Fuzzy ◽  
Braking System ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Reconfiguration Controller

The aircraft anti-skid braking system (AABS) is an essential aero electromechanical system to ensure safe take-off, landing, and taxiing of aircraft. In addition to the strong nonlinearity, strong coupling, and time-varying parameters in aircraft dynamics, the faults of actuators, sensors, and other components can also seriously affect the safety and reliability of AABS. In this paper, a reconfiguration controller-based adaptive fuzzy active-disturbance rejection control (AFADRC) is proposed for AABS to meet increased performance demands in fault-perturbed conditions as well as those concerning reliability and safety requirements. The developed controller takes component faults, external disturbance, and measurement noise as the total perturbations, which are estimated by an adaptive extended state observer (AESO). The nonlinear state error feedback (NLSEF) combined with fuzzy logic can compensate for the adverse effects and ensure that the faulty AABS maintains acceptable performance. Numerical simulations are carried out in different runway environments. The results validate the robustness and reconfiguration control capability of the proposed method, which improves AABS safety as well as braking efficiency.

scholarly journals Rapid attitude maneuver of the space tether net capture system using active disturbance rejection control

2019 ◽  
Vol 10 (2) ◽  
pp. 575-587
Author(s):  
Cheng Wei ◽  
Hao Liu ◽  
Chunlin Tan ◽  
Yongjian Liu ◽  
Yang Zhao
Keyword(s):  
Disturbance Rejection ◽  
Controller Design ◽  
Strong Nonlinearity ◽  
Active Disturbance Rejection Control ◽  
Control Performance ◽  
Space Tether ◽  
Flexible System ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Attitude Maneuver

Abstract. The space tether net capture system is a spacecraft system with a mounting tether net for capturing targets. It has the advantages of reusability and the adaptability to capture varying targets with different geometries or flying-motion statuses. However, due to its flexible tether net, the system shows strong nonlinearity, which makes it difficult to achieve the desired control performance for rapid and accurate maneuvering; moreover, this limits the ability of the tether net system to capture fast-moving targets. This paper focused on the maneuver controller design of the space capture system with a large flexible tether net. Firstly, based on the absolute node coordinate method, the dynamic model of the space tether net system is established, which can accurately describe the geometric and material nonlinearities of the space tether net. Then, a two-loop active disturbance rejection control is proposed for the rapid and high-precision maneuvering of the flexible system; meanwhile the second-order extended state observer is designed to estimate and compensate for the tether net vibration disturbance. The simulation validated the proposed control, which could complete the rapid and accurate maneuvering and also compensate for the disturbance caused by the vibration of the flexible tether net.

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.

Automated steering controller design for vehicle lane keeping combining linear active disturbance rejection control and quantitative feedback theory

2018 ◽  
Vol 232 (7) ◽  
pp. 937-948 ◽  
Author(s):  
Zhengrong Chu ◽  
Christine Wu ◽  
Nariman Sepehri
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Controller Design ◽  
Active Disturbance Rejection Control ◽  
Quantitative Feedback Theory ◽  
Steering Control ◽  
Parameter Uncertainties ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Lane Keeping

In this article, a new automated steering control method is presented for vehicle lane keeping. This method is a combination between the linear active disturbance rejection control and the quantitative feedback theory. The structure of the steering controller is first determined based on the linear active disturbance rejection control, then the controller is tuned in the framework of the quantitative feedback theory to meet the prescribed design specifications on sensitivity and closed-loop stability. The parameter uncertainties of the vehicle system are considered at the tuning stage. The proposed steering controller is simulated and tested on a scale vehicle. Both the simulation and experimental results demonstrate that the scale vehicle controlled by the proposed controller is able to perform the lane keeping. In the experiments, the lateral offset between the scale vehicle and the road centerline is regulated within the acceptable ranges of ±0.03 m during straight lane keeping and ±0.15 m during curved lane keeping. The proposed controller is easy to be implemented and is simple without requiring complex calculations and measurements of vehicle states. Simulations also show that the control method can be implemented on a full-scale vehicle.

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.

scholarly journals On the Flexible Operation of Supercritical Circulating Fluidized Bed: Burning Carbon Based Decentralized Active Disturbance Rejection Control

Energies ◽  
2019 ◽  
Vol 12 (6) ◽  
pp. 1132 ◽  
Author(s):  
Fan Zhang ◽  
Yali Xue ◽  
Donghai Li ◽  
Zhenlong Wu ◽  
Ting He
Keyword(s):  
Power Systems ◽  
Fluidized Bed ◽  
Disturbance Rejection ◽  
High Efficiency ◽  
Circulating Fluidized Bed ◽  
Strong Nonlinearity ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Carbon Based

Supercritical circulating fluidized bed (CFB) is one of the prominent clean coal technologies owing to the advantages of high efficiency, fuel flexibility, and low cost of emission control. The fast and flexible load-tracking performance of the supercritical CFB boiler-turbine unit presents a promising prospect in facilitating the sustainability of the power systems. However, features such as large inertia, strong nonlinearity, and multivariable coupling make it a challenging task to harmonize the boiler’s slow dynamics with the turbine’s fast dynamics. To improve the operational flexibility of the supercritical CFB unit, a burning carbon based decentralized active disturbance rejection control is proposed. Since burning carbon in the furnace responds faster than throttle steam pressure when the fuel flow rate changes, it is utilized to compensate the dynamics of the corresponding loop. The parameters of the controllers are tuned by optimizing the weighted integrated absolute error index of each loop via genetic algorithm. Simulations of the proposed method on a 600 MW supercritical CFB unit verify the merits of load following and disturbance rejection in terms of less settling time and overshoot.

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.

scholarly journals A Delta Operator Approach for the Discrete-Time Active Disturbance Rejection Control on Induction Motors

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
John Cortés-Romero ◽  
Alberto Luviano-Juárez ◽  
Hebertt Sira-Ramírez
Keyword(s):  
Discrete Time ◽  
Disturbance Rejection ◽  
Induction Motors ◽  
Controller Design ◽  
Delta Operator ◽  
Active Disturbance Rejection Control ◽  
Operator Approach ◽  
Time Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

The problem of active disturbance rejection control of induction motors is tackled by means of a generalized PI observer based discrete-time control, using the delta operator approach as the methodology of analyzing the sampled time process. In this scheme, model uncertainties and external disturbances are included in a general additive disturbance input which is to be online estimated and subsequently rejected via the controller actions. The observer carries out the disturbance estimation, thus reducing the complexity of the controller design. The controller efficiency is tested via some experimental results, performing a trajectory tracking task under load variations.

Linear Active Disturbance Rejection Control for Grid-Connected Inverter With LCL Filter

2017 ◽  
Author(s):  
Yuchang Ling ◽  
Junyi Dong ◽  
Hongbo Yang ◽  
Yali Xue ◽  
Jiang Zeng ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
External Disturbance ◽  
Active Disturbance Rejection Control ◽  
Lcl Filter ◽  
Parameters Tuning ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Dynamic Performances ◽  
Grid Connected Inverter ◽  
Internal Coupling

This paper proposes a linear active disturbance rejection control (LADRC) for gird-connected inverter with LCL filter to deal with parameters variation, internal coupling and external disturbance. Relative degree of plant is used to design LADRC and on the basis of relationship between LADRCs parameters and bandwidth, the parameters tuning are sum up in several guidable points. It is demonstrated that LADRC presents a good dynamic performances, high disturbance rejection and extremely robust to parameters variation in Matlab/Simulink.

Stabilization of a class of switched uncertain systems by active disturbance rejection control

2018 ◽  
Vol 40 (16) ◽  
pp. 4421-4431 ◽  
Author(s):  
Chen Liu ◽  
Chaoyang Dong ◽  
Qing Wang ◽  
Maopeng Ran
Keyword(s):  
Disturbance Rejection ◽  
External Disturbance ◽  
Average Dwell Time ◽  
Feedback System ◽  
Active Disturbance Rejection Control ◽  
Extended State ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
System States ◽  
Estimate System

The problem of stabilization for a class of switched uncertain non-linear systems is studied by active disturbance rejection control (ADRC). Coordinate transformation is applied to transform the system into a strict feedback system in normal form. The unknown non-linearity, parameter uncertainty and external disturbance are treated as an extended state of each subsystem, and a corresponding switched extended state observer (ESO) is designed. Based on the output of the switched ESO, a switching ADRC law is proposed. Rigorous proof is given to show that the switched ESO can estimate system states and the unknown non-linearity of each subsystem effectively. Furthermore, the proposed controller guarantees the closed-loop system be semi-globally uniformly ultimately bounded for a class of switching with average dwell time. A numerical example illustrates the effectiveness of the proposed method.

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