Active Disturbance Rejection Based Robust Trajectory Tracking Controller Design in State Space

Sarıyıldız, Emre; Mutlu, Rahim; Zhang, Chuanlin

doi:10.1115/1.4042878

Cited by 24 publications

(11 citation statements)

References 17 publications

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“…The performance of disturbance suppression can be improved by simply increasing the bandwidth of Dob. 27,29 The transient response of the SEA's link suffered from vibration as the resonance modes of the compliant actuator were neglected in the sliding mode controller synthesis. 7 The vibration of the SEA's link can be suppressed by either using a continuous trajectory as shown in Fig.…”

Section: Methodsmentioning

confidence: 99%

“…In this section, a second-order DOb is synthesized so as to estimate an SEA's matched and mismatched disturbances and their first-and second-order time derivatives. 27 The state space representation of Eq. (1) iṡ…”

Section: Second-order Dobmentioning

confidence: 99%

“…The former not only improves the robustness by cancelling disturbances but also allows to reduce the control signal chattering and to deal with mismatched disturbances. 17,27 It is noted that although the conventional SMC provides good robustness for matched disturbances, it is sensitive to mismatched disturbances. 17,28 Therefore, the conventional SMC is not applicable for the position control problem of an SEA.…”

Section: Introductionmentioning

confidence: 99%

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A Sliding Mode Force and Position Controller Synthesis for Series Elastic Actuators

Sarıyıldız¹,

Mutlu²,

Huang³

2019

Robotica

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SummaryThis paper deals with the robust force and position control problems of series elastic actuators (SEAs). It is shown that an SEA’s force control problem can be described by a second-order dynamic model which suffers from only matched disturbances. However, the position control dynamics of an SEA is of fourth order and includes matched and mismatched disturbances. In other words, an SEA’s position control is more complicated than its force control, particularly when disturbances are considered. A novel robust motion controller is proposed for SEAs by using disturbance observer (DOb) and sliding mode control. When the proposed robust motion controller is implemented, an SEA can precisely track desired trajectories and safely contact with an unknown and dynamic environment. The proposed motion controller does not require precise dynamic models of environments and SEAs. Therefore, it can be applied to many different advanced robotic systems such as compliant humanoids, industrial robots and exoskeletons. The validity of the proposed motion controller is experimentally verified.

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Section: Methodsmentioning

confidence: 99%

Section: Second-order Dobmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Sliding Mode Force and Position Controller Synthesis for Series Elastic Actuators

Sarıyıldız¹,

Mutlu²,

Huang³

2019

Robotica

Self Cite

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“…The promptness and efficacy of the estimator, along with the position recovery scheme, are shown to outperform existing solutions based on EKF, model predictive control, and robust control. In this respect, it should also be noted that traditional robust control involves complex controllers and is unable to react fast enough in the presence of strong disturbances (Sariyildiz et al, 2019;Sariyildiz & Ohnishi, 2013), or may require the application of a signal that is unfeasible or too conservative; in contrast, the present approach compensates for the exact amount of disturbance which is estimated online. Finally, by being independent of the type of control law used to determine the rotor speeds of the aircraft, the developed scheme can provide existing controllers with the additional capacity to better deal with disturbances.…”

Section: Introductionmentioning

confidence: 99%

Wind gust estimation for precise quasi-hovering control of quadrotor aircraft

Azid

Kumar

Cirrincione

et al. 2021

Control Engineering Practice

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This paper focuses on the control of quadrotor vehicles without wind sensors that are required to accurately track low-speed trajectories in the presence of moderate yet unknown wind gusts. By modeling the wind disturbance as exogenous inputs, and assuming that compensation of its effects can be achieved through quasistatic vehicle motions, this paper proposes an innovative estimation and control scheme comprising a linear dynamic filter for the estimation of such unknown inputs and requiring only position and attitude information. The filter is built upon results from Unknown Input Observer theory and allows estimation of wind and vehicle state without measurement of the wind itself. A simple feedback control law can be used to compensate for the offset position error induced by the disturbance. The proposed filter is independent of the recovery control scheme used to nullify the tracking error, as long as the corresponding applied rotor speeds are available. The solution is first checked in simulation environment by using the Robot Operating System middleware and the Gazebo simulator and then experimentally validated with a quadcopter system flying with real wind sources.

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“…For such applications, a DOB that utilizes auxiliary variables is most frequently used because of its simple structure [22] [23]. The basic form of the DOB assumes that the change in the rate of disturbances is zero, while the range of allowable disturbances is widened by considering the high-order derivatives of the disturbance and by imposing strong constraints on the system [24] [25]. The DOB is essentially used to decouple the disturbances in DOB-based control.…”

Section: Introductionmentioning

confidence: 99%

State Space Disturbance Observer Considering Residual Disturbance

Park

Yoon

2020

IEEE Access

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This paper presents a novel disturbance observer (DOB) for overcoming the limitation of uniformly bounded stability in existing DOB-based control systems and to attain asymptotic stability. The DOB is derived by considering the residual disturbance remaining after disturbance decoupling is performed. It focuses on the elimination of the residual disturbance as well as minimization of the estimation error. By considering the system state and the residual disturbance simultaneously in a Lyapunov stability function, the proposed DOB cancels the residual disturbance term and attains asymptotic stability. In contrast, existing DOBs consider these factors separately in different Lyapunov functions. A basic novel DOB is initially derived for achieving asymptotic stability and is later combined with the existing DOB. This forms a novel extended DOB that achieves a better estimation rate and better performance with regard to DOB-based control than those of existing DOBs.

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Active Disturbance Rejection Based Robust Trajectory Tracking Controller Design in State Space

Cited by 24 publications

References 17 publications

A Sliding Mode Force and Position Controller Synthesis for Series Elastic Actuators

A Sliding Mode Force and Position Controller Synthesis for Series Elastic Actuators

Wind gust estimation for precise quasi-hovering control of quadrotor aircraft

State Space Disturbance Observer Considering Residual Disturbance

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