Time Varying Disturbance Observer Based on Sliding Mode Control for Active Magnetic Bearing System

Giap, Van Nam; Huang, Shyh‐Chour; Nguyen, Quang Dich; Trinh, Xuan Thang

doi:10.1007/978-3-030-69610-8_123

Cited by 9 publications

(6 citation statements)

References 3 publications

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“…The third and last observer used for comparison will be termed rate and acceleration measurements-based observer (RAMO) and is inspired from [ 39 ], but simplified and adapted to our application. It is given by

where k is an observer gain.…”

Section: Numerical Simulation Analysismentioning

confidence: 99%

“…Compared to three classical observers used for comparison, this observer is shown to significantly improve estimation accuracy. The three alternative observers are inspired from [ 30 ], where output error integration is used, [ 39 ], where the observer uses acceleration measurements as indirect disturbance observations and [ 40 ], where a sliding mode observer (SMO) was used. The proposed observer uses an auxiliary variable to avoid acceleration measurements and is simple to tune for exponential convergence.…”

Section: Introductionmentioning

confidence: 99%

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Observer-Based Optimal Control of a Quadplane with Active Wind Disturbance and Actuator Fault Rejection

Zyadat

Horri

Innocente

et al. 2023

Sensors

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Hybrid aircraft configurations with combined cruise and vertical flight capabilities are increasingly being considered for unmanned aircraft and urban air mobility missions. To ensure the safety and autonomy of such missions, control challenges including fault tolerance and windy conditions must be addressed. This paper presents an observer-based optimal control approach for the active combined fault and wind disturbance rejection, with application to a quadplane unmanned aerial vehicle. The quadplane model is linearised for the longitudinal plane, vertical takeoff and landing and transition modes. Wind gusts are modelled using a Dryden turbulence model. An unknown input observer is first developed for the estimation of wind disturbance by defining an auxiliary variable that emulates body referenced accelerations. The approach is then extended to simultaneous rejection of intermittent elevator faults and wind disturbance velocities. Estimation error is mathematically proven to converge to zero, assuming a piecewise constant disturbance. A numerical simulation analysis demonstrates that for a typical quadplane flight profile at 100 m altitude, the observer-based wind gust and fault correction significantly enhances trajectory tracking accuracy compared to a linear quadratic regulator and to a H-infinity controller, which are both taken, without loss of generality, as benchmark controllers to be enhanced. This is done by adding wind and fault compensation terms to the controller with admissible control effort. The proposed observer is also shown to enhance accuracy and observer-based rejection of disturbances and faults compared to three alternative observers, based on output error integration, acceleration feedback and a sliding mode observer, respectively. The proposed approach is particularly efficient for the active rejection of actuator faults under windy conditions.

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where k is an observer gain.…”

Section: Numerical Simulation Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Observer-Based Optimal Control of a Quadplane with Active Wind Disturbance and Actuator Fault Rejection

Zyadat

Horri

Innocente

et al. 2023

Sensors

View full text Add to dashboard Cite

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“…Estimating the disturbances in rehabilitation robots can be challenging due to the complex and nonlinear nature of the system. The identification of disturbances typically involves developing mathematical models of the system and measuring the difference between the model prediction and actual behavior of the system [17,18]. However, in rehabilitation robots, it can be difficult to obtain accurate models due to the presence of uncertainties and unknown dynamics.…”

Section: Introductionmentioning

confidence: 99%

Identification and Control of Rehabilitation Robots with Unknown Dynamics: A New Probabilistic Algorithm Based on a Finite-Time Estimator

Alotaibi,

Jahanshahi,

Yao

et al. 2023

Mathematics

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The control of rehabilitation robots presents a formidable challenge owing to the myriad of uncharted disturbances encountered in real-world applications. Despite the existence of several techniques proposed for controlling and identifying such systems, many cutting-edge approaches have yet to be implemented in the context of rehabilitation robots. This highlights the necessity for further investigation and exploration in this field. In light of this motivation, we introduce a pioneering algorithm that employs a finite estimator and Gaussian process to identify and forecast the uncharted dynamics of a 2-DoF knee rehabilitation robot. The proposed algorithm harnesses the probabilistic nature of Gaussian processes, while also guaranteeing finite-time convergence through the utilization of the Lyapunov theorem. This dual advantage allows for the effective exploitation of the Gaussian process’s probabilistic capabilities while ensuring reliable and timely convergence of the algorithm. The algorithm is delineated and the finite time convergence is proven. Subsequently, its performance is investigated through numerical simulations for estimating complex unknown and time-varying dynamics. The results obtained from the proposed algorithm are then employed for controlling the rehabilitation robot, highlighting its remarkable capability to provide precise estimates while effectively handling uncertainty.

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“…The main problem of the bearingless system is how to design the precision control scheme. Some papers presented the control designs for the magnetic devices such as follows: The control designs for the active magnetic bearing systems were discussed in [1][2][3][4][5]. In this paper, the SSBM control system is presented.…”

Section: Introductionmentioning

confidence: 99%

Robust Sliding Mode Control-Based a Novel Super-Twisting Disturbance Observer and Fixed-Time State Observer for Slotless-Self Bearing Motor System

Nguyen

et al. 2022

IEEE Access

Self Cite

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The disturbance and uncertainty of the motor drive systems are very complicated terms. There is no exception for the slotless-self bearing motor (SSBM), where the perturbations of the bearing motor are mainly came from the outside as the wind affect, from inside as the thermal changing of the coils, and incorrect modeling of the winding processes. First, to delete these inversed terms, this paper proposes a new super-twisting disturbance observer (STDOB) to obtain the desired goal of the robust control design. The proposed disturbance observer was based on the information of measured and estimated states with the aim of softening the cost of the measurement. Second, to estimate the velocities and accelerations of the movements on x  and y  axes, the stability concept of homogeneous function-based was used to design the fixed-time state observers (FTSOBs) for these axes. The state of the rotational operation on   axis was estimated with a fixed-time state observer. Third, to control the positions and rotational speed, a variable boundary layer thickness (VBLT) fixed-time sliding mode control (FTSMC) was designed to force these positions and speed states converge to the desired goals. Finally, the stability of the proposed control algorithm was theoretically verified by using Lyapunov condition and simulation of MATLAB software. The obtained states were acceptably stable with small overshoots, small settling-times, and stable steadystates.INDEX TERMS Slotless-self bearing motor, super-twisting disturbance observer, variable boundary layer thickness, fixed-time sliding mode control.

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Time Varying Disturbance Observer Based on Sliding Mode Control for Active Magnetic Bearing System

Cited by 9 publications

References 3 publications

Observer-Based Optimal Control of a Quadplane with Active Wind Disturbance and Actuator Fault Rejection

Observer-Based Optimal Control of a Quadplane with Active Wind Disturbance and Actuator Fault Rejection

Identification and Control of Rehabilitation Robots with Unknown Dynamics: A New Probabilistic Algorithm Based on a Finite-Time Estimator

Robust Sliding Mode Control-Based a Novel Super-Twisting Disturbance Observer and Fixed-Time State Observer for Slotless-Self Bearing Motor System

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