Linear active disturbance rejection control of the hovercraft vessel model

Abstract

a b s t r a c tA linearizing robust dynamic output feedback control scheme is proposed for earth coordinate position variables trajectory tracking tasks in a hovercraft vessel model. The controller design is carried out using only position and orientation measurements. A highly simplified model obtained from flatness considerations is proposed which vastly simplifies the controller design task. Only the order of integration of the input-to-flat output subsystems, along with the associated input matrix gain, is retained in the simplified model. All the unknown additive nonlinearities and exogenous perturbations are lumped into an absolutely bounded, unstructured, vector of time signals whose components may be locally on-line estimated by means of a high gain Generalized Proportional Integral (GPI) observer. GPI observers are the dual counterpart of GPI controllers providing accurate simultaneous estimation of each flat output associated phase variables and of the exogenous and endogenous perturbation inputs. These observers exhibit remarkably convenient self-updating internal models of the unknown disturbance input vector components. These two key pieces of on-line information are used in the proposed feedback controller to conform an active disturbance rejection, or disturbance accommodation, control scheme. Simulation results validate the effectiveness of the proposed design method.

Robust Trajectory‐Tracking Control of a PVTOL under Crosswind

“…The GPI observer combined with the linear control law produces an undesirable initial peaking phenomenon. To attenuate these transients, a clutch function is applied to the estimated states. This function increases smoothly from 0 to 1 during a small time interval [0, ξ ) and it is defined as follows with a large even integer q .…”

A Linear Active Disturbance Rejection Control for a Ball and Rigid Triangle System

“…where is a suitably large positive even integer (see [19]). Therefore, the "smoothing" of the observer variables may be implemented aŝ=̂(…”

“…ADRC controllers have led to new paradigmatic traditional nonlinear control problems in which disturbances, internal and external, are actively estimated and rejected [16,17]. This concept has been used lately for controlling some kinds of underactuated systems in conjunction with the differential flatness approach with promising results (see [14,[18][19][20][21][22]).…”

Safety-Guaranteed Trajectory Tracking Control for the Underactuated Hovercraft with State and Input Constraints

“…From a detailed review of the available literatures about the trajectory tracking control of hovercraft [2][3][4][5][6][7][8], only position errors were considered and the velocities of hovercraft were not controlled. However, the velocity is related to the resistance hump of hovercraft.…”