This work proposes an active disturbance rejection approach for the establishment of a sliding mode control strategy in fault-tolerant operations. The core of the proposed active disturbance rejection assistance is a Generalized Proportional Integral (GPI) observer which is in charge of the active estimation of lumped nonlinear endogenous and exogenous disturbance inputs related to the creation of local sliding regimes with limited control authority. Possibilities are explored for the GPI observer assisted sliding mode control in fault-tolerant schemes. Convincing improvements are presented with respect to classical sliding mode control strategies. As a collateral advantage, the observer-based control architecture offers the possibility of chattering reduction given that a significant part of the control signal is of the continuous type. The case study considers a classical DC motor control affected by actuator faults, parametric failures, and perturbations. Experimental results and comparisons with other established sliding mode controller design methodologies, which validate the proposed approach, are provided.
In this paper, a data-driven method for disturbance estimation and rejection is presented. The proposed approach is divided into two stages: an inner stabilization loop, to set the desired reference model, together with an outer loop for disturbance estimation and compensation. Inspired by the active disturbance rejection control framework, the exogenous and endogenous disturbances are lumped into a total disturbance signal. This signal is estimated using an on-line algorithm based on a datadriven predictor scheme, whose parameters are chosen to satisfy high robustness-performance criteria. The above process is presented as a novel enhancement to design a disturbance observer, which constitutes the main contribution of the paper. In addition, the control strategy is completely presented in discrete time, avoiding the use of discretization methods for its digital implementation. As a case study, the voltage control of a DC-DC synchronous buck converter affected by disturbances in the input voltage and the load is considered. Finally, experimental results that validate the proposed strategy and some comparisons with the classical disturbance observer-based control are presented.
Este artículo propone una alternativa para la estimación de parámetros de un helicóptero de dos grados de libertad que opera bajo control de lazo cerrado. Como principal contribución se plantea una variante de la metodología algebraica de identificación, la cual involucra el uso de observadores proporcional integral generalizados (GPI). Estos observadores están encargados de proveer la estimación de las derivadas de las salidas del sistema para su computo directo en los casos donde existen operaciones no lineales de difícil manipulación analítica. Inicialmente, se establece un identificador algebraico para cada ecuación no-lineal del sistema a fin de estimar los parámetros de interés. Posteriormente, para la selección de los parámetros estimados se adopta el criterio de la integral del cuadrado del error y el correspondiente índice de error. Finalmente, se presentan resultados experimentales que permiten validar la estrategia de identificación utilizada y los parámetros estimados con respecto al modelo asumido.
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