Tracking and Disturbance Rejection of Extended Constant Signals with Unknown Disturbance Structure Using MPC

2008 ◽  
Vol 1 (2) ◽  
pp. 82-91
Author(s):  
Edward J. DAVISON ◽  
Ruth MILMAN
Keyword(s):  
Disturbance Rejection ◽  
Unknown Disturbance

scholarly journals Single-Parameter-Tuned Attitude Control for Quadrotor with Unknown Disturbance

2020 ◽  
Vol 10 (16) ◽  
pp. 5564 ◽  
Author(s):  
Dada Hu ◽  
Zhongcai Pei ◽  
Zhiyong Tang
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
Learning Algorithm ◽  
Attitude Control System ◽  
Model Free ◽  
Covariance Matrix Adaptation ◽  
State Observers ◽  
Reward Shaping ◽  
Policy Gradient ◽  
Unknown Disturbance

In this paper, methods are presented for designing a quadrotor attitude control system with disturbance rejection ability, wherein only one parameter needs to be tuned for each axis. The core difference between quadrotor platforms are extracted as critical gain parameters (CGPs). Reinforcement learning (RL) technology is introduced in order to automatically optimize the controlling law for quadrotors with different CGPs, and the CGPs are used to extend the RL state list. A deterministic policy gradient (DPG) algorithm that is based on an actor-critic structure in a model-free style is used as the learning algorithm. Mirror sampling and reward shaping methods are designed in order to eliminate the steady-state errors of the RL controller and accelerate the training process. Active disturbance rejection control (ADRC) is applied to reject unknown external disturbances. A set of extended state observers (ESOs) is designed to estimate the total disturbance to the roll and pitch axes. The covariance matrix adaptation evolution strategy (CMA-ES) algorithm is used to automatically tune the ESO parameters and improve the final performance. The complete controller is tested on an F550 quadrotor in both simulation and real flight environments. The quadrotor can hover and move around stably and accurately in the air, even with a severe disturbance.

Composite Disturbance Rejection Attitude Control for Quadrotor With Unknown Disturbance

2020 ◽  
Vol 67 (8) ◽  
pp. 6894-6903 ◽  
Author(s):  
Kai Zhao ◽  
Jinhui Zhang ◽  
Dailiang Ma ◽  
Yuanqing Xia
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
Unknown Disturbance

Digital current regulator for proportional electro-hydraulic valves with unknown disturbance rejection

2014 ◽  
Vol 53 (4) ◽  
pp. 909-919 ◽  
Author(s):  
Enrico Canuto ◽  
Wilber Acuña-Bravo ◽  
Marco Agostani ◽  
Marco Bonadei
Keyword(s):  
Disturbance Rejection ◽  
Unknown Disturbance ◽  
Hydraulic Valves

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.

scholarly journals Control System Design of Shunt Active Power Filter Based on Active Disturbance Rejection and Repetitive Control Techniques

2014 ◽  
Vol 2014 ◽  
pp. 1-6 ◽  
Author(s):  
Le Ge ◽  
Xiaodong Yuan ◽  
Zhong Yang
Keyword(s):  
Control System ◽  
Disturbance Rejection ◽  
Repetitive Control ◽  
Active Power Filter ◽  
Active Power ◽  
Current Control ◽  
Current Loop ◽  
Power Filter ◽  
Active Disturbance Rejection ◽  
Unknown Disturbance

To rely on joint active disturbance rejection control (ADRC) and repetitive control (RC), in this paper, a compound control law for active power filter (APF) current control system is proposed. According to the theory of ADRC, the uncertainties in the model and from the circumstance outside are considered as the unknown disturbance to the system. The extended state observer can evaluate the unknown disturbance. Next, RC is introduced into current loop to improve the steady characteristics. The ADRC is used to get a good dynamic performance, and RC is used to get a good static performance. A good simulation result is got through choosing and changing the parameters, and the feasibility, adaptability, and robustness of the control are testified by this result.

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