A Linear Active Disturbance Rejection Control for a Ball and Rigid Triangle System

Aguilar-Ibáñez, Carlos; Sira‐Ramírez, Hebertt; Suárez-Castañón, Miguel S.

doi:10.1155/2016/1358930

Cited by 14 publications

(5 citation statements)

References 36 publications

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“…Reference [19] proposes a 2-degree-of-freedom control based on an extended state observer for estimating and eliminating total disturbance. Reference [20] proposes the application of linear flatness control along with active disturbance rejection control (ADRC) for the local stabilization and trajectory tracking problems in the underactuated ball and rigid triangle system. An adaptive robust control device is proposed in reference [21].…”

Section: Citationmentioning

confidence: 99%

“…According to Equations ( 2) and (4), the pitch angle loop can be expressed as a secondorder system shown in the following Equation (20).…”

Section: Pitch Angle Loopmentioning

confidence: 99%

“…For Equation (20), take the pitch angle error: e θ = θ − θ d , where θ d is the reference pitch angle trajectory, and θ is the actual pitch angle trajectory, and then derive the pitch angle tracking error:…”

Section: Design Of Height Subsystem Controller (1) Design Of Height L...mentioning

confidence: 99%

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Research on Backstepping Linear Active Disturbance Rejection Control of Hypersonic Vehicle

Bao,

Zhu,

Zhao

2024

Applied Sciences

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In this paper, the velocity and altitude control problem of hypersonic vehicles is studied. Aiming at the nonlinear parameter uncertainties, external disturbances and coupling of the hypersonic vehicle system, a control method combining backstepping control with linear active disturbance rejection control is proposed. The backstepping control solves the coupling of the system and transforms the longitudinal dynamic model of the hypersonic vehicle into the form of strict feedback, which is divided into the altitude subsystem and velocity subsystem. The linear extension state observer (LESO) can observe parameter uncertainty disturbance and external disturbance. At the same time, the stability of the system is proved by Lyapunov theory. Finally, the effectiveness of the designed controller is verified by numerical simulation and comparison with classical PID control.

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Section: Citationmentioning

confidence: 99%

“…According to Equations ( 2) and (4), the pitch angle loop can be expressed as a secondorder system shown in the following Equation (20).…”

Section: Pitch Angle Loopmentioning

confidence: 99%

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Research on Backstepping Linear Active Disturbance Rejection Control of Hypersonic Vehicle

Bao,

Zhu,

Zhao

2024

Applied Sciences

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“…Assumption 3 (see [21][22][23]). For the disturbances in system (1), there exists unknown positive constant such that ‖ ‖ ≤ .…”

Section: Problem Formulation and Neurodynamic Model By Rnnmentioning

confidence: 99%

Data-Driven Robust Control of Unknown MIMO Nonlinear System Subject to Input Saturations and Disturbances

Wang

Gong

Liu

2017

Mathematical Problems in Engineering

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This paper presented a new data-driven robust control scheme for unknown nonlinear systems in the presence of input saturation and external disturbances. According to the input and output data of the nonlinear system, a recurrent neural network (RNN) data-driven model is established to reconstruct the dynamics of the nonlinear system. An adaptive output-feedback controller is developed to approximate the unknown disturbances and a novel input saturation compensation method is used to attenuate the effect of the input saturation. Under the proposed adaptive control scheme, the uniformly ultimately bounded convergence of all the signals of the closed-loop nonlinear system is guaranteed via Lyapunov analysis. The simulation results are given to show the effectiveness of the proposed data-driven robust controller.

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“…Aguilar-Iba

ez et al [ 16 ] discussed the stability of ADRC for uncertain system via direct Lyapunov method. Following that, the effectiveness of ADRC was verified by successful applications on a ball and rigid triangle system [ 17 ] and uncertain second-order flat systems [ 18 ]. Without loss of generality, ADRC consists of transition process (TP), extended state observer (ESO), and state error feedback control law (SEFCL).…”

Section: Introductionmentioning

confidence: 99%

PD-Based Optimal ADRC with Improved Linear Extended State Observer

Zhang

Cheng

Guo

2021

Entropy

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Taking dead-zone nonlinearlity and external disturbances into account, an active disturbance rejection optimal controller based on a proportional-derivative (PD) control law is proposed by connecting the proportional-integral-derivative (PID) control, the active disturbance rejection control (ADRC) and particle swarm optimization (PSO), with the purpose of providing an efficient and practical technology, and improving the dynamic and steady-state control performances. Firstly, in order to eliminate the negative effects of the dead-zone, a class of 2-order typical single-input single-out system model is established after compensating the dead-zone. Following that, PD control law is introduced to replace the state error feedback control law in ADRC to simplify the control design. By analyzing the characteristics of the traditional linear extended state observer, an improved linear extended state observer is designed, with the purpose of improving the estimation performance of disturbances. Moreover, employing PSO with a designed objective function to optimize parameters of controller to improve control performance. Finally, ten comparative experiments are carried out to verify the effectiveness and superiority of the proposed controller.

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A Linear Active Disturbance Rejection Control for a Ball and Rigid Triangle System

Cited by 14 publications

References 36 publications

Research on Backstepping Linear Active Disturbance Rejection Control of Hypersonic Vehicle

Research on Backstepping Linear Active Disturbance Rejection Control of Hypersonic Vehicle

Data-Driven Robust Control of Unknown MIMO Nonlinear System Subject to Input Saturations and Disturbances

PD-Based Optimal ADRC with Improved Linear Extended State Observer

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