scholarly journals Vertical Profile Diving and Floating Motion Control of the Underwater Glider Based on Fuzzy Adaptive LADRC Algorithm

2021 ◽  
Vol 9 (7) ◽  
pp. 698
Author(s):  
Zhiguang Wang ◽  
Caoyang Yu ◽  
Mingjie Li ◽  
Baoheng Yao ◽  
Lian Lian
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Underwater Glider ◽  
Precise Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Long Duration ◽  
Wide Range ◽  
Marine Environmental ◽  
Fuzzy Adaptive

The underwater glider is a kind of novel invention that has been proven to be perfect for long-duration, wide-range marine environmental monitoring tasks. It is controlled by changing the buoyancy and adjusting the posture. For precise control of the underwater glider’s trajectory, a fuzzy adaptive linear active disturbance rejection control (LADRC) is designed in this paper. This controller allows the glider to dive to a predetermined depth precisely and float at a specific depth. In addition, the controller takes some important factors into account, such as model uncertainty, environmental disturbances, and the limited dynamic output of the actual mechanical actuator. Finally, simulation results show the superiority of this fuzzy adaptive LADRC control method. Particularly, when the underwater glider was controlled to dive 100 m at a predetermined attitude angle θ = −1 rad, the maximum overshoot of FLADRC is reduced by 75.1%, 56.6% relative to PID, LADRC, respectively.

An Industrial Quadrotor UAV Control Method Based on Fuzzy Adaptive Linear Active Disturbance Rejection Control

Electronics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 376
Author(s):  
Changhao Sun ◽  
Mengqi Liu ◽  
Chang’an Liu ◽  
Xueling Feng ◽  
Hua Wu
Keyword(s):  
Strong Coupling ◽  
Disturbance Rejection ◽  
High Efficiency ◽  
Control Method ◽  
Fuzzy Controller ◽  
Response Speed ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Fuzzy Adaptive

In this paper, a fuzzy adaptive linear active disturbance rejection control (Fuzzy-LADRC) is proposed for strong coupling and nonlinear quadrotor unmanned aerial vehicle (UAV). At present, UAV conveys new opportunities in the industry, such as power line inspection, petroleum conduit patrolling, and defects detection for the wind turbine, because of its advantages in flexibility, high efficiency, and economy. Usually, the scene of the UAV mission has a high risk, and there are internal sensor noise and unknown external disturbance. Thus, the attitude stability and anti-interference ability of UAV are especially essential. To solve the strong coupling problem of UAV, the dynamics model of UAV is established via the Newton-Euler method, and the coupling part of dynamics is modeled as an internal disturbance. According to the function of linear active disturbance rejection control (LADRC) parameters, a Fuzzy-LADRC is proposed to improve the dynamic performance of the system. The proposed control method makes full use of the adaptive ability of the fuzzy controller and the anti-interference ability of LADRC to the nonlinear and strong coupling systems. As we know, this is the first time that Fuzzy-LADRC has been used in UAV control. In the simulation, the performance indicators of four controllers, including Fuzzy-LADRC, LADRC, PID, and Fuzzy-PID are compared and analyzed. The results indicate that the average response speed of Fuzzy-LADRC is 12.65% faster than LADRC, and it is 29.25% faster than PID. The average overshoot of Fuzzy-LADRC is 17% less than LADRC and 77.75% less than PID. The proposed control method can significantly improve the response speed and anti-interference ability of UAV.

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.

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.

scholarly journals Fractional-Order PID Controller for Active Power Filter Using Active Disturbance Rejection Control

2019 ◽  
Vol 2019 ◽  
pp. 1-10
Author(s):  
Nixuan Liu ◽  
Siqi Cao ◽  
Juntao Fei
Keyword(s):  
Fractional Order ◽  
Disturbance Rejection ◽  
Pid Controller ◽  
Control Method ◽  
Active Power Filter ◽  
Power Filter ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Fractional Order Pid ◽  
Fractional Order Pid Controller

This paper proposed a fractional-order PID controller and active disturbance rejection control (ADRC) method for the current compensation of active power filter (APF). The control method consists of two closed loops. One is a reference current tracking loop based on the ADRC controller, which can treat the internal and external uncertainties of the system as a whole. The other is the voltage control loop with the fractional-order PID controller for more flexibility. Simulation results demonstrate that the proposed control method has a stronger robustness and higher compensating precision comparing with the double-loop PID control method.

Development of the active disturbance rejection control method for increasing the stability of the long articulated vehicle

2019 ◽  
Vol 233 (13) ◽  
pp. 3554-3576 ◽  
Author(s):  
Naser Esmaeili ◽  
Reza Kazemi
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Sliding Mode ◽  
Active Disturbance Rejection Control ◽  
Positive Effects ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Articulated Vehicles ◽  
Sliding Mode Controllers ◽  
Articulated Vehicle

Today, with the increasing growth in road traffic, many countries are welcoming long articulated vehicles because of their economic and environmental benefits and the positive effects on the problem of traffic congestion and the reduction in fuel consumption and environmental pollutants. The major problem with such vehicles is poor maneuverability at low speeds and inappropriate lateral performance at high speeds, resulting in accidents and financial losses. Therefore, in order to improve their safety, they need a control system that can improve the performance of the long articulated vehicles. In this article, a 19-degree of freedom dynamic model of the long articulated vehicle has been developed in MATLAB software. This vehicle consists of a tractor and two semi-trailer units. To adjust the articulated vehicle lateral dynamics, a robust control method based on the combination of active disturbance rejection control and back-stepping sliding mode control is introduced. Four control variables such as yaw rate and lateral velocity of the tractor and also first and second articulation angles are regulated by steering the axles of the tractor and two trailers. Furthermore, in order to measure the state variables of the long articulated vehicle, the extended Kalman filter is used. The results of the simulation in high-speed lane change and low-speed steep steer maneuvers indicate the superiority of this method over linear-quadratic regulator and sliding mode controllers. Finally, the robustness of this controller than conventional sliding mode and active disturbance rejection sliding mode controllers have been shown in the presence of noises.

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