Passivity-based control for rocket launcher position servo system based on improved active disturbance rejection technology

Abstract

In order to achieve high motion accuracy and better robustness of the rocket launcher position servo system driven by a permanent magnet synchronous motor, a passivity-based controller based on improved active disturbance rejection control is proposed in this article. The convenient method of interconnection and damping assignment and passivitybased control is adopted to establish the port-controlled Hamiltonian system with dissipation model of permanent magnet synchronous motor. To further enhance the robustness and adaptability of the traditional active disturbance rejection controller, an improved active disturbance rejection control strategy-based radical basis function neural network is introduced to on-line update the proportional and derivative gains of improved active disturbance rejection controller. The results of numerical simulation and bench test indicate that the proposed improved active disturbance rejection control passivity-based control algorithm has advantages of smaller overshoot, fast response, small steady-state error, and strong robustness. It proves that the proposed control scheme is effective and suitable.

Improved active disturbance rejection control with the optimization algorithm for the leg joint control of a hydraulic quadruped robot

“…The ESO estimates both the states of disturbances and feed-forward compensation. [20][21][22][23][24] ADRC cannot achieve a perfect performance and the controlled systems have poor response characteristics if reasonable ADRC parameters cannot be found. The optimal ADRC parameters can be used in robot joints to maximize the jumping and running abilities of robots.…”

Speed Control of PMSM Based on an Optimized ADRC Controller

“…A linear system was used to compensate for the actual system as the nominal system to solve the aircraft attitude tracking problem accurately and efficiently under uncertain model and external disturbances [12]. Wang Ronglin applies ADRC to a position servo system of a rocket launcher driven by a PMSM, which improves the movement accuracy and robustness of the servo system [13]. A nonaffine nonlinear system with unknown external perturbation was used to estimate the unknown parts of a system using ESO, thereby solving the difficult problem of virtual control derivative acquisition [14,15].…”