An LADRC Controller to Improve the Robustness of the Visual Tracking and Inertial Stabilized System in Luminance Variation Conditions

Fu, Tianlei; Gao, Yanbin; Guan, Lei; Qin, Chao

doi:10.3390/act11050118

Cited by 8 publications

(5 citation statements)

References 40 publications

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“…[ 31 , 32 ], using the observer bandwidth and controller bandwidth as intermediate variables to link the individual parameters, thus reducing the number of tuning parameters. The block diagram of the LADRC is shown in Figure 5 , which consists of a linear extended state observer (LESO) and a linear state error feedback control law (LSEF) [ 33 ]. The tracking differentiator is not used because the differential transition process technique is more mature in engineering applications and to avoid the TD leading to phase lag and longer regulation time.…”

Section: Linear Adrc Based Position Servo Control Systemmentioning

confidence: 99%

Design and Implementation of a Linear Active Disturbance Rejection Control-Based Position Servo Control System of an Electromotive Valve for Exhaust Gas Recirculation

Cheng,

Yin,

et al. 2024

Sensors

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An exhaust gas recirculation (EGR) valve is used to quickly and dynamically adjust the amount of recirculated exhaust gas, which is critical for improving engine fuel economy and reducing emissions. To address problems relating to the precise positioning of an electromotive (EM) valve under slowly varying plant dynamics and uncertain disturbances, we propose a servo control system design based on linear active disturbance rejection control (LADRC) for the EGR EM valve driven by a limited angle torque motor (LATM). By analyzing the structure of the LATM and the transmission, the dynamic model of the system is derived. In addition, to solve the problems caused by slowly varying plant dynamics and uncertain disturbances, we combine the effects of uncertain model parameters and external disturbances as the total disturbance, which is estimated in real time by an extended state observer (ESO) and then compensated. In addition, accurate angular information is obtained using a non-contact magnetic angle measurement method, and a high-speed digital communication channel is established to help implement a closed-loop position control system with improved responsiveness and accuracy. Simulation and experimental results show that the proposed servo system design can effectively ensure the precision and real-time performance of the EM valve under slowly changing plant dynamics and uncertain disturbances. The proposed servo system design achieves a full-stroke valve control accuracy of better than 0.05 mm and a full-stroke response time of less than 100 ms. The controlled valve also has good robustness under shock-type external disturbances and excellent airflow control capability. The repeatability of the airflow control is generally within 5%, and the standard deviation is less than 0.2 m3/h.

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Section: Linear Adrc Based Position Servo Control Systemmentioning

confidence: 99%

Design and Implementation of a Linear Active Disturbance Rejection Control-Based Position Servo Control System of an Electromotive Valve for Exhaust Gas Recirculation

Cheng,

Yin,

et al. 2024

Sensors

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“…Theorem 2. When the control law (22) is conducted for the gyro-stabilized surveillance system whose dynamics are represented by (1), the finite-time stability of the visual servoing system is preserved with a proper choice of the controller gains.…”

Section: Finite-time Visual Servoing Controller Designmentioning

confidence: 99%

“…With the dynamics (21) and the proposed control law (22), the time derivative of V 2 is obtained as follows:…”

Section: Proof Of Theoremmentioning

confidence: 99%

“…Recent works rely on robust control techniques such that both target tracking and disturbance rejection are simultaneously achieved. Sliding mode control (SMC) [19,20], H ∞ control [21], and active disturbance rejection control [22] are popular schemes, thanks to their robustness and effectiveness. Nevertheless, the preferable approach for controlling a gimbal system is the combination of a disturbance observer and a robust control law, thanks to its capability of active disturbance rejection.…”

Section: Introductionmentioning

confidence: 99%

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A Study on Robust Finite-Time Visual Servoing with a Gyro-Stabilized Surveillance System

Huynh,

Kim

2024

Actuators

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This article presents the design and validation of a novel visual servoing scheme for a surveillance system. In this system, a two-axis gimbal mechanism operates the rotation of a camera which is able to provide visual information on the tracked target for the control system. The control objective is to bring the target’s projection to the center of the image plane with the smallest steady-state error and a smooth transient response, even with the unpredictable motion of the target and the influence of external disturbances. To fulfill these tasks, the proposed control scheme is designed consisting of two parts: (1) an observer estimates simultaneously the matched and unmatched disturbances; and (2) a motion control law guarantees the finite-time stability and visual servoing performance. Finally, experiments are conducted for validation and evaluation. The proposed control system shows its consistency and ought to perform better than previous approaches.

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“…The output noise will affect the tracking accuracy and stability of the outer loop controller [20]. The input disturbance needs to be estimated using disturbance observers and combined with model estimation to obtain undisturbed inputs [21]. For output measurement noise, it may be amplified when differentiating it with a classical differentiator.…”

Section: Introductionmentioning

confidence: 99%

Two-Degrees-of-Freedom PID Control with Kalman Filter for Engraving Machine System

Dong,

Hao,

Shao

et al. 2023

Actuators

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For an engraving machine system with input dynamic disturbance and output random measurement noise, a two-degrees-of-freedom proportional integral derivative (2-DOF PID) control method based on the Kalman filter is firstly proposed in this paper, which can effectively reject the input disturbance and ensure the set point tracking performance of the controller. The 2-DOF controller consists of a disturbance rejection controller and a set point tracking controller. The disturbance rejection controller is composed of a PID controller based on a disturbance observer and expectation model. The parameters of the set point tracking controller are tuned using a differential evolution algorithm (DE), and the cumulative absolute error value (IAE) is used as the fitness function of the DE algorithm, which can improve the rationality of intelligent parameter tuning. In addition, the Kalman filter is also applied to deal with the output noise to suppress the influence of the output measurement uncertainty. Finally, compared with existing algorithms, the feasibility and superiority of the proposed algorithm are verified using numerical simulation and an experimental test.

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An LADRC Controller to Improve the Robustness of the Visual Tracking and Inertial Stabilized System in Luminance Variation Conditions

Cited by 8 publications

References 40 publications

Design and Implementation of a Linear Active Disturbance Rejection Control-Based Position Servo Control System of an Electromotive Valve for Exhaust Gas Recirculation

Design and Implementation of a Linear Active Disturbance Rejection Control-Based Position Servo Control System of an Electromotive Valve for Exhaust Gas Recirculation

A Study on Robust Finite-Time Visual Servoing with a Gyro-Stabilized Surveillance System

Two-Degrees-of-Freedom PID Control with Kalman Filter for Engraving Machine System

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