Active Disturbance Rejection Control based on Generalized Proportional Integral Observer to control a bipedal robot with five degrees of freedom

Arcos-Legarda, Jaime; Cortés‐Romero, John; Tovar, Andrés

doi:10.1109/acc.2016.7525526

Cited by 24 publications

(18 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…With this approach, the nonlinearities of the system are represented in a simplified model, affine in the control input, with a chain of integrators and the total disturbance. This approach has shown to handle differences between the dynamics of physical mechatronic systems and their mathematical models, driving the tracking errors to small, acceptable values [33,34].…”

Section: Active Disturbance Rejection Controlmentioning

confidence: 99%

Mechatronic Design and Active Disturbance Rejection Control of a Bag Valve-Based Mechanical Ventilator

Arcos-Legarda

Tovar

2021

Journal of Medical Devices

Self Cite

View full text Add to dashboard Cite

This paper presents the mechatronic (mechanical and control system) design of a portable mechanical ventilator to treat patients with a compromised respiratory function. The portable ventilator ensures adequate oxygenation and carbon dioxide clearance while avoiding ventilator-associated lung injury (VALI). Oxygen is delivered through the compression of a bag valve (Ambu bag) using a moving strap. Carbon dioxide is cleared through the control of a pinch valve actuated by a low-torque servo motor. The positive end expiratory pressure (PEEP) is controlled by an adjustable mechanical valve the system. An Arduino Mega microcontroller board is used in this prototype to control the respiratory variables. All mechanical components as well as sensors, actuators and control hardware are of common use in robotics and are very inexpensive. The total cost of the prototype build in this work is about $425 U.S. dollars. The design is meant to be replicated and utilized in emergency conditions that involve an overwhelming number of cases, such as COVID-19 treatment, in places with no access to commercial MV technologies. In order to account for variations in the prototype as built, the software developed for this portable MV applies an active disturbance rejection control strategy (ADRC). This control strategy is presented as a universal control structure for any mechanical ventilator able to supply air flow with controlled pressure and volume.

show abstract

Section: Active Disturbance Rejection Controlmentioning

confidence: 99%

Mechatronic Design and Active Disturbance Rejection Control of a Bag Valve-Based Mechanical Ventilator

Arcos-Legarda

Tovar

2021

Journal of Medical Devices

Self Cite

View full text Add to dashboard Cite

show abstract

“…There are several observer strategies that are used this approach: the extended state observer (ESO) [6,7], active disturbance rejection control (ADRC) [8], generalized extended state observer (GESO), also known as generalized proportional integral (GPI) observer [9,10], unknown input observers (UIO) [11], and high-gain observer (HGO) [12].…”

Section: Introductionmentioning

confidence: 99%

Data-driven disturbance observer-based control: an active disturbance rejection approach

Rojas-Cubides

Cortés‐Romero

Arcos-Legarda

2021

Control Theory Technol.

Self Cite

View full text Add to dashboard Cite

In this paper, a data-driven method for disturbance estimation and rejection is presented. The proposed approach is divided into two stages: an inner stabilization loop, to set the desired reference model, together with an outer loop for disturbance estimation and compensation. Inspired by the active disturbance rejection control framework, the exogenous and endogenous disturbances are lumped into a total disturbance signal. This signal is estimated using an on-line algorithm based on a datadriven predictor scheme, whose parameters are chosen to satisfy high robustness-performance criteria. The above process is presented as a novel enhancement to design a disturbance observer, which constitutes the main contribution of the paper. In addition, the control strategy is completely presented in discrete time, avoiding the use of discretization methods for its digital implementation. As a case study, the voltage control of a DC-DC synchronous buck converter affected by disturbances in the input voltage and the load is considered. Finally, experimental results that validate the proposed strategy and some comparisons with the classical disturbance observer-based control are presented.

show abstract

“…This proposed strategy extends the traditional (non model-based) ADRC approach that uses a simplified model to estimate and reject a unified disturbance signal [20]. This traditional control method has been evaluated in variety of applications such as bipedal robots [21], gait exoskeletons [22], among other mechatronic systems [23,24,25]. Although, the traditional ADRC approach has shown a robust, closed-loop behavior, it has also shown limitations in its closed-loop performance caused by the limited use of the available model information [26,27,28].…”

Section: Introductionmentioning

confidence: 99%

Hybrid disturbance rejection control of dynamic bipedal robots

et al. 2019

Self Cite

View full text Add to dashboard Cite

This paper presents a disturbance rejection control strategy for hybrid dynamic systems exposed to model uncertainties and external disturbances. The focus of this work is the gait control of dynamic bipedal robots. The proposed control strategy integrates continuous and discrete control actions. The continuous control action uses a novel model-based active disturbance rejection control (ADRC) approach to track gait trajectory references. The discrete control action resets the gait trajectory references after the impact produced by the robot's support-leg exchange to maintain a zero tracking error. A Poincaré return map is used to search asymptotic stable periodic orbits in an extended hybrid zero dynamics (EHZD). The EHZD reflects a lower-dimensional representation of the full hybrid dynamics with uncertainties and disturbances. A physical bipedal robot testbed, referred to as Saurian, is fabricated for validation purposes. Numerical simulation and physical experiments show the robustness of the proposed control strategy against external disturbances and model uncertainties that affect both the swing motion phase and the support-leg exchange.

show abstract

Active Disturbance Rejection Control based on Generalized Proportional Integral Observer to control a bipedal robot with five degrees of freedom

Cited by 24 publications

References 16 publications

Mechatronic Design and Active Disturbance Rejection Control of a Bag Valve-Based Mechanical Ventilator

Mechatronic Design and Active Disturbance Rejection Control of a Bag Valve-Based Mechanical Ventilator

Data-driven disturbance observer-based control: an active disturbance rejection approach

Hybrid disturbance rejection control of dynamic bipedal robots

Contact Info

Product

Resources

About