An anti-windup method for a class of uncertain MIMO systems subject to actuator saturation with LADRC

To solve the problems of model uncertainties, dynamic coupling, and external disturbances, a modified linear active disturbance rejection controller (MLADRC) is proposed for the trajectory tracking control of robot manipulators. In the computer simulation, MLADRC is compared to the proportional-derivative (PD) controller and the regular linear active disturbance rejection controller (LADRC) for performance tests. Multiple uncertain factors such as friction, parameter perturbation, and external disturbance are sequentially added to the system to simulate an actual robot manipulator system. Besides, a two-degree-of-freedom (2-DOF) manipulator is constructed to verify the control performance of the MLADRC. Compared with the regular LADRC, MLADRC is significantly characterized by the addition of feedforward control of reference angular acceleration, which helps robot manipulators keep up with target trajectories more accurately. The simulation and experimental results demonstrate the superiority of the MLADRC over the regular LADRC for the trajectory tracking control.

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“…According to the application of LADRC in MIMO systems [21][22][23], a "virtual control torque" vector T is introduced to the control system. Let…”

Section: Design Of the Trajectory Tracking Control Systemmentioning

confidence: 99%

Modified Linear Active Disturbance Rejection Control for Uncertain Robot Manipulator Trajectory Tracking

Xiao

Shen

2021

Mathematical Problems in Engineering

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“…Linear active disturbance rejection control (LADRC) is proposed by Prof. Han Jingqing which is originated from the idea: that any control system can be transformed into a series integral standard type through feedback [42,43]. LADRC solves many control problems by its good immunity and stable static performance [44][45][46][47][48][49][50]. In particular applications, such as high-temperature molten metal transportation, the control system needs to meet the following objectives: 1) The maximum swing angle should be strict limited and be as small as possible.…”

Section: Introductionmentioning

confidence: 99%

Linear Active Disturbance Rejection Control for Double-Pendulum Overhead Cranes

et al. 2021

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Because of the complexity, non-linearity, and under-actuated features of double pendulum overhead cranes, a control method based on linear active disturbance rejection control (LADRC) and differential flatness theory is proposed to realize accurate trolley positioning and effective swing eliminating. Specifically, in order to simplify the system model, we introduce the differential flatness theory to construct system output. Based on this method, the uncertainty and system external disturbance become total disturbance. The control method of the crane is designed according to LADRC. Then, we use the bird swarm algorithm (BSA) to optimize controller's parameters. Finally, the double-pendulum crane control method based on the LADRC can better accomplish the crane's anti-swing and location in the real environment according to simulation and experimental results, which confirms its effectiveness and robustness in existing system.

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“…Subsequently, Tarbouriech et al [8,9] further developed modern anti-windup (AW) technology. In recent years, the modern AW compensator has been used as an effective measure to suppress input saturation [10][11][12][13][14][15]. A combination of a Nussbaum function, smooth function, or mean value theorem is a common method to address input saturation [16][17][18], and by using the linear matrix inequality (LMI) to solve the parameters of the AW compensator, the estimation of the domain of attraction can be improved [19,20].…”

Section: Introductionmentioning

confidence: 99%

Consistent Total Traction Torque-Oriented Coordinated Control of Multimotors with Input Saturation for Heavy-Haul Locomotives

Zhang

et al. 2020

Journal of Advanced Transportation

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In the coordinated control of multiple motors for heavy-haul locomotives, the input value for a motor often exceeds its maximum allowable input value, resulting in the saturation problem. A traction total-amount coordinated tracking control (TACTC) strategy is proposed to address the input saturation of heavy-haul locomotives driven by multiple motors. This strategy reduces control input and suppresses input saturation. First, a multimotor traction model with uncertain parameter perturbations and external disturbances was established. Next, a sliding-mode disturbance observer (SMDO) was designed to reduce the sliding-mode switching gain, thereby decreasing the control input. An auxiliary anti-windup (AW) system was used to weaken the effect of input saturation on tracking performance. Then, the observed value and auxiliary state were fed back to the sliding-mode controller to design a TACTC protocol and ensure that the total amount of traction torque follows the desired traction characteristic curve. Finally, the Matlab/Simulink simulation and RT-Lab semiphysical experiment results show that the proposed strategy can effectively suppress the input saturation problem of multimotor coordinated control.

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An anti-windup method for a class of uncertain MIMO systems subject to actuator saturation with LADRC

Cited by 17 publications

References 22 publications

Modified Linear Active Disturbance Rejection Control for Uncertain Robot Manipulator Trajectory Tracking

Modified Linear Active Disturbance Rejection Control for Uncertain Robot Manipulator Trajectory Tracking

Linear Active Disturbance Rejection Control for Double-Pendulum Overhead Cranes

Consistent Total Traction Torque-Oriented Coordinated Control of Multimotors with Input Saturation for Heavy-Haul Locomotives

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