On Output Feedback Control Problems of an Industrial Robot Manipulator

Andreev, Aleksandr; Peregudova, Olga; Tahtenkova, Lubov; Kolegova, Lubov

doi:10.1109/summa48161.2019.8947519

Cited by 1 publication

(1 citation statement)

References 27 publications

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“…Nevertheless, due to the unmodeled dynamics, uncertainties and disturbances, the performances of OFC techniques are usually compromised (Andreev et al , 2019) because the unknown uncertainties and disturbances (UUDs) lead to the deterioration of the output of the quadrotor. In addition, according to Wang et al (2014), the quadrotor model is highly coupled multiple input multiple output (MIMO) underactuated model with four inputs and six outputs as shown in Figure 1.…”

Section: Introductionmentioning

confidence: 99%

Adaptive output-feedback robust active disturbance rejection control for uncertain quadrotor with unknown disturbances

Ahmed

Shah

2021

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PurposeIn this research paper, an adaptive output-feedback robust active disturbance rejection control (RADRC) is designed for the multiple input multiple output (MIMO) quadrotor attitude model subject to unwanted uncertainties and disturbances (UUDs).Design/methodology/approachIn order to achieve the desired control objectives in the presence of UUDs, the low pass filter (LPF) and extended high gain observer (EHGO) methods are used for the estimation of matched and mismatched UUDs, respectively. Furthermore, for solving the chattering incurred in the standard sliding mode control (SMC), a multilayer sliding mode surface is constructed. For formulating the adaptive output-feedback RADRC algorithm, the EHGO, LPF and SMC schemes are combined using the separation principle.FindingsThe findings of this research work include the design of an adaptive output-feedback RADRC with the ability to negate the UUDs as well as estimate the unknown states of the quadrotor attitude model. In addition, the chattering problem is addressed by designing a modified SMC scheme based on the multilayer sliding mode surface obtained by utilizing the estimated state variables. This sliding mode surface is also used to obtain the adaptive criteria for the switching design gain parameters involved in the SMC. Moreover, the requirement of high design gain parameters in the EHGO is solved by combining it with the LPF.Originality/valueDesigning the flight control techniques while assuming that the state variables are available is a common practice. In addition, to obtain robustness, the SMC technique is widely used. However, in practice, the state variables might not be available due to unknown parameters and uncertainties, as well as the chattering due to SMC reduces the performances of the actuators. Hence, in this paper, an adaptive output-feedback RADRC technique is designed to solve the problems of UUDs and chattering.

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Section: Introductionmentioning

confidence: 99%

Adaptive output-feedback robust active disturbance rejection control for uncertain quadrotor with unknown disturbances

Ahmed

Shah

2021

View full text Add to dashboard Cite

show abstract

On Output Feedback Control Problems of an Industrial Robot Manipulator

Cited by 1 publication

References 27 publications

Adaptive output-feedback robust active disturbance rejection control for uncertain quadrotor with unknown disturbances

Adaptive output-feedback robust active disturbance rejection control for uncertain quadrotor with unknown disturbances

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