Analysis of middleware and ADRC based techniques for networked control systems

Ahmed, Ammar; Ullah, Hafiz Asad; Haider, Ijlal; Tahir, Uzair; Attique, Hammad

doi:10.1109/sta.2015.7505160

Cited by 2 publications

(2 citation statements)

References 7 publications

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“…Also, a dual-loop ADRC algorithm that is used for an active hydraulic suspension system, which can help the six-wheel off-road vehicle to improve the performance transition [27]. In computer networks, the ADRC technique has been applied to maintain the stability of a network operating system in the presence of a delay caused by the network (sensor-controller delay and delay of the controller actuator), this delay is considered as a disturbance and is handled by the extended state observer [28]. In the field of robots, the ADRC is useful in quad helicopter control due to superiority to solve control problems and disturbance estimation of the nonlinear models with uncertainty and intense disturbances superiority [29].…”

Section: (Ijacsa) International Journal Of Advanced Computer Science Andmentioning

confidence: 99%

Improved Sliding Mode Nonlinear Extended State Observer based Active Disturbance Rejection Control for Uncertain Systems with Unknown Total Disturbance

Abdul-Adheem¹,

Ibraheem²

2016

ijacsa

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Abstract-This paper presents a new strategy for the active disturbance rejection control (ADRC) of a general uncertain system with unknown bounded disturbance based on a nonlinear sliding mode extended state observer (SMESO). Firstly, a nonlinear extended state observer is synthesized using sliding mode technique for a general uncertain system assuming asymptotic stability. Then the convergence characteristics of the estimation error are analyzed by Lyapunov strategy. It revealed that the proposed SMESO is asymptotically stable and accurately estimates the states of the system in addition to estimating the total disturbance. Then, an ADRC is implemented by using a nonlinear state error feedback (NLSEF) controller; that is suggested by J. Han and the proposed SMESO to control and actively reject the total disturbance of a permanent magnet DC (PMDC) motor. These disturbances caused by the unknown exogenous disturbances and the matched uncertainties of the controlled model. The proposed SMESO is compared with the linear extended state observer (LESO). Through digital simulations using MATLAB / SIMULINK, the chattering phenomenon has been reduced dramatically on the control input channel compared to LESO. Finally, the closed-loop system exhibits a high immunity to torque disturbance and quite robustness to matched uncertainties in the system.

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Section: (Ijacsa) International Journal Of Advanced Computer Science Andmentioning

confidence: 99%

Improved Sliding Mode Nonlinear Extended State Observer based Active Disturbance Rejection Control for Uncertain Systems with Unknown Total Disturbance

Abdul-Adheem¹,

Ibraheem²

2016

ijacsa

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show abstract

“…Taking into account the fact that ADRC is very useful in the field of robotics, this method is particularly useful for the control of quad helicopters because of its capability to handle nonlinear models with significant unsettling influences with vulnerability [ 7 ]. Moreover, many engineering systems with ADRC have proven successful [ 8 , 9 , 10 ]. The main objective of this work is to design a controller that provides an active rejection of the bounded mismatched total disturbances, which have a direct effect on the performance of permanent magnet direct current (PMDC) motors of the DDMR.…”

Section: Introductionmentioning

confidence: 99%

A New Nonlinear Dynamic Speed Controller for a Differential Drive Mobile Robot

Hameed

Abbud

Abdulsaheb³

et al. 2023

Entropy

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A disturbance/uncertainty estimation and disturbance rejection technique are proposed in this work and verified on a ground two-wheel differential drive mobile robot (DDMR) in the presence of a mismatched disturbance. The offered scheme is the an improved active disturbance rejection control (IADRC) approach-based enhanced dynamic speed controller. To efficiently eliminate the effect produced by the system uncertainties and external torque disturbance on both wheels, the IADRC is adopted, whereby all the torque disturbances and DDMR parameter uncertainties are conglomerated altogether and considered a generalized disturbance. This generalized disturbance is observed and cancelled by a novel nonlinear sliding mode extended state observer (NSMESO) in real-time. Through numerical simulations, various performance indices are measured, with a reduction of 86% and 97% in the ITAE index for the right and left wheels, respectively. Finally, these indices validate the efficacy of the proposed dynamic speed controller by almost damping the chattering phenomena and supplying a high insusceptibility in the closed-loop system against torque disturbance.

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Analysis of middleware and ADRC based techniques for networked control systems

Cited by 2 publications

References 7 publications

Improved Sliding Mode Nonlinear Extended State Observer based Active Disturbance Rejection Control for Uncertain Systems with Unknown Total Disturbance

Improved Sliding Mode Nonlinear Extended State Observer based Active Disturbance Rejection Control for Uncertain Systems with Unknown Total Disturbance

A New Nonlinear Dynamic Speed Controller for a Differential Drive Mobile Robot

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