Sliding mode control with extended state observer for a class of nonlinear uncertain systems

Ran, Chenyang; Zhu, Yicheng; Su, Jianbo

doi:10.1080/00207179.2022.2032363

Cited by 7 publications

(6 citation statements)

References 42 publications

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“…ADRC is a high-gain adaptive anti-disturbance control algorithm, including three main modules: track-differentiator(TD), extended state observer(ESO) and nonlinear state error feedback(NLSEF). The most important feature of ADRC is that the system model and external disturbances are all regarded as disturbances to the system, which are estimated by ESO and then compensated directly [9]. In addition, the parameter tuning of this controller is far easier than that of the classic pid controller under disturbance conditions [10].…”

Section: 33mentioning

confidence: 99%

Design of PID and ADRC based adaptively anti-disturbance quadrotor hovering controller

Xingjian

2023

J. Phys.: Conf. Ser.

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This paper reported an implementation of quadrotor controller, aimed at using ADRC-based controller cascaded with PID controller to overcome hovering difficulties and provide resistance to extreme wind conditions in the complex airflow environment common in typical urban low-flying environments. The main tasks of the implementation including analyzing the complexity of urban low air flow environments and exploring what challenges it brings to the hovering stability of lightweight quadcopters, as well as demonstrating the good performance of the cascade PID-ADRC controller in this case and compare it with a classic PID controller.

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Section: 33mentioning

confidence: 99%

Design of PID and ADRC based adaptively anti-disturbance quadrotor hovering controller

Xingjian

2023

J. Phys.: Conf. Ser.

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“…e sign e e fal e e e (9) In this equation, the variable r represents the speed of the control tracking signal, which is proportional to the tracking speed. z 11 is the speed signal after smoothing transition, y* is the given speed signal, and δ 1 is the filtering factor, α is usually taken as 0.5 or 0.25.…”

Section: Velocity Loop Td Designmentioning

confidence: 99%

“…Active Disturbance Rejection Control (ADRC) is a new type of nonlinear control theory that does not depend on the exact mathematical model of the object, proposed by Kyung-Ching Han [9] ADRC is a new nonlinear control theory that does not depend on the exact mathematical model of the object. Many results have been achieved in the application as well as improvement of the active disturbance rejection controller.…”

Section: Introductionmentioning

confidence: 99%

Research on Active Disturbance Rejection Control of Brushless DC Motor Based on Vector Control

Wang

2023

AJST

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A Active Disturbance Rejection Control strategy based on vector control is proposed to address the problems of poor speed overshooting immunity in the control system of brushless DC motor. The motor magnetic chain and torque are decoupled by vector control method to simplify the control, and the traditional PI controller in the speed loop is replaced by a active disturbance rejection controller. The transition process is arranged by tracking differential (TD) to smooth the given speed, which overcomes the contradiction between speed overshoot and rapidity, and improves the response capability of the system; a second-order extended state observer (ESO) is introduced, which estimates and compensates the total system disturbance and improves the system's immunity to disturbance; and the nonlinear law state error feedback (NLSEF) is utilized by the Through the nonlinear law state error feedback (NLSEF), the control accuracy of the system is improved by utilizing the nonlinear control principle of "large gain with small error and small gain with large error". The simulation results show that the control strategy proposed in this paper is characterized by fast response, no overshooting, strong resistance to load disturbance, and strong robustness to changes in load and speed, which proves the feasibility and advancement of this strategy.

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“…In practical systems, the state variables are usually unmeasurable or just partly measurable, and some control plans may not be well implemented. The observer can estimate those unmeasurable state variables; it overcomes the difficulties caused by lack of accurate state information (Han 1995;Yao and Wang 2009). By using observer method, in Wang and Su (2013), a LESO is constructed using a linear function, meanwhile detailed selection procedure of the proposed LESO related parameters is given.…”

Section: Introductionmentioning

confidence: 99%

Robust Finite-Time Control for Guidance Law with Uncertainties in Missile Dynamics

Tao,

Shi,

Zhang

et al. 2024

J. Aerosp. Technol. Manag.

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In this paper, the robust finite-time control for impact angle guidance of missile dynamic system with uncertainties is investigated by combining linear extended state observer (LESO) and adaptive non-singular fast terminal sliding mode method. Specially for dealing with existing uncertainties including time-varying parametric perturbation and nonparametric disturbances in high order line-of-sight rates and target acceleration, a robust LESO strategy is proposed for designing sliding mode-based impact angle guidance, which can guarantee that estimation error converges to the neighborhood of the origin in finite-time. Based on the proposed LESO framework, an adaptive non-singular fast terminal sliding mode guidance law is considered for realizing interception of maneuvering targets, which can guarantee asymptotically stability of the system. Simulation results are shown for confirming effectiveness of the proposed guidance strategy of this paper. Compared with former methods, accuracy of estimation is increased by nearly two times, and miss distance is reduced by nearly two times.

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Sliding mode control with extended state observer for a class of nonlinear uncertain systems

Cited by 7 publications

References 42 publications

Design of PID and ADRC based adaptively anti-disturbance quadrotor hovering controller

Design of PID and ADRC based adaptively anti-disturbance quadrotor hovering controller

Research on Active Disturbance Rejection Control of Brushless DC Motor Based on Vector Control

Robust Finite-Time Control for Guidance Law with Uncertainties in Missile Dynamics

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