Active disturbance rejection controller design for stable walking of a compass-like biped

In view of the position sensorless control system of permanent magnet synchronous motor (PMSM) under medium and high-speed conditions, the use of traditional sliding mode observers is prone to problems such as speed and high-frequency jitter and three-phase current distortion. In this paper, a saturation function consisting of an arctangent function is used instead of a discontinuous switch symbol function at the zero point to improve the speed stability and improve the three-phase current distortion problem. Simulations in MATLAB/Simulink compare the speed and three-phase current which is sliding mode observer between the traditional and the improved, the later can effectively suppress the speed jitter and three-phase current distortion.

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“…Each part has specific functions and the three parts interact with each other. Its mathematical model is as follows [7][8], TD:…”

Section: Adrcmentioning

confidence: 99%

Application of New Sliding Mode Observer in Sensorless Control of Permanent Magnet Synchronous Motor

Zhang

Xü

2023

J. Phys.: Conf. Ser.

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“…The ADRC was founded by Professor Han, based on the "active anti-interference" thought (Li et al, 2013), mainly consisting of TD, ESO, NLSEF and the compensation of the disturbance estimation (Song et al, 2018). The structure diagram is shown in Figure 5.…”

Section: Principle Of Active Disturbance Rejection Controlmentioning

confidence: 99%

Disturbance rejection control of airborne radar stabilized platform based on active disturbance rejection control inverse estimation algorithm

Mei

2021

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Purpose This paper aims to study a disturbance rejection controller to improve the anti-interference capability and the position tracking performance of airborne radar stabilized platform that ensures the stability and clarity of synthetic aperture radar imaging. Design/methodology/approach This study proposes a disturbance rejection control scheme for an airborne radar stabilized platform based on the active disturbance rejection control (ADRC) inverse estimation algorithm. Exploiting the extended state observer (ESO) characteristic, an inversely ESO is developed to inverse estimate the unmodeled state and extended state of the platform system known as total disturbances, which greatly improves the estimation performance of the disturbance. Then, based on the inverse ESO result, feedback the difference between the output of the tracking differentiator and the inverse ESO result to the nonlinear state error feedback controller (NLSEF) to eliminate the effects of total disturbance and ensure the stability of the airborne radar stabilized platform. Findings Simulation experiments are adopted to compare the performance of the ADRC inverse estimation algorithm with that of the proportional integral derivative controller which is one of the mostly applied control schemes in platform systems. In addition, classical ADRC is compared as well. The results have shown that the ADRC inverse estimation algorithm has a better disturbance rejection performance when disturbance acts in airborne radar stabilized platform, especially disturbed by continuous airflow under some harsh air conditions. Originality/value The originality of this paper is exploiting the ESO characteristic to develop an inverse ESO, which greatly improves the estimation performance of the disturbance. And the ADRC inverse estimation algorithm is applied to ameliorate the anti-interference ability of the airborne radar stabilization platform, especially the ability to suppress continuous interference under complex air conditions.

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“…The ESO does not depend on a complete system model information, including external perturbations and dynamic uncertainties, estimated along with the original state variables. Therefore, the used observer is an important part of the active disturbance rejection control (ADRC) technique (Song et al, 2018; Xing et al, 2011; Zhang et al, 2020; Zhao et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

Extended state observer–based improved non-singular fast terminal sliding mode for mobile manipulators

Algrnaodi

Saad

et al. 2023

Transactions of the Institute of Measurement and Control

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The robust non-singular fast terminal sliding mode (NFTSM) controller is adopted in this work to solve the problem of tracking trajectory of a mobile manipulator (MM) suffering from uncertainties. The NFTSM method has the capability to ensure convergence rate and to provide good tracking accuracy and robustness against external perturbations and parameter uncertainties (total disturbances). However, the NFTSM controller needs high discontinuous gain to reject the effect of strong disturbances, which results in vibrations in the steady-state and chattering in the control law. To solve these issues, an extended state observer–based NFTSM technique is proposed for [Formula: see text]-degree of freedom (DoF) coupling MM. The proposed method is designed to approximate and compensate in real-time the uncertainties. It also ensures robustness against total disturbances, good convergence rate, and good tracking accuracy. The stability of the proposed control is also verified based on the Lyapunov theory. Experimental works are conducted on a 5-degree-of-freedom (5-DoF) MM where the results obtained demonstrate the effectiveness of the developed technique and prove the stability of the closed-loop system.

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Active disturbance rejection controller design for stable walking of a compass-like biped

Cited by 6 publications

References 19 publications

Application of New Sliding Mode Observer in Sensorless Control of Permanent Magnet Synchronous Motor

Application of New Sliding Mode Observer in Sensorless Control of Permanent Magnet Synchronous Motor

Disturbance rejection control of airborne radar stabilized platform based on active disturbance rejection control inverse estimation algorithm

Extended state observer–based improved non-singular fast terminal sliding mode for mobile manipulators

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