Active Disturbance Rejection Control of a Magnetic Suspension System

Beltrán-Carbajal, Francisco; Valderrabano‐Gonzalez, Antonio; Favela‐Contreras, Antonio; Rosas-Caro, Julio C.

doi:10.1002/asjc.934

Cited by 20 publications

(18 citation statements)

References 19 publications

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“…Consider the class of nonlinear uncertain systems (2) with incomplete information affected by perturbations that obeys the constrains given in (13). If there exists a set of positive scalars i such that the spectrum of matrixĀ i , named i satisfies |Re{ i }| ≤ 0.5 i ∀i = 1, .., n, gain matrices K for the set of controllers (32) as well as L a and L b for the observer (30) (all independent of the stage) with its extended estimator (31) such that the following matrix inequality:…”

Section: Controller Designmentioning

confidence: 99%

Composite active disturbance rejection robust control for a prototype of an active damping artificial ankle prosthesis

Serrano

Chairez

Luviano‐Juárez

2019

Asian Journal of Control

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The problem of robust control applied to adjust the configuration of an ankle prosthesis based on disturbance estimation has been addressed in this study. Active disturbance rejection control was the paradigm used for controlling the robotic prosthesis by means of a direct active estimation. Based on this active estimation, the robust controller implemented the disturbance cancellation providing a fast converge to the origin of the tracking error. The uncertainties affecting the prosthesis dynamics were identified by a high‐order extended state high gain observer. This identification was used to force the tracking between the actual position and force needed in the ankle prosthesis and some reference values obtained by a biomechanical gait cycle analysis. Therefore, the estimated states were used to implement a robust output feedback controller that was effective to reject actively the perturbations. This rejection implemented within the controller forced the trajectory tracking to a small vicinity of the origin. A strategy based on composite Lyapunov function served to prove that tracking problem for the prosthesis was successfully solved despite the switching nature of the gait cycle. The controller was implemented in numerical simulations for showing the convergence of the tracking error. The convergence of this tracking error to the region around the origin was obtained within the first second of simulation.

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Section: Controller Designmentioning

confidence: 99%

Composite active disturbance rejection robust control for a prototype of an active damping artificial ankle prosthesis

Serrano

Chairez

Luviano‐Juárez

2019

Asian Journal of Control

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“…Beltran-Carbajal et al [38] put forward an output feedback control for a linear mass-spring-damper mechanical system, and an asymptotic estimation method was proposed to estimate the velocity, acceleration and disturbance signals in order to reduce the number of sensors. In [39], a novel output feedback control based on a generalized proportional integral observer for stabilization and robust tracking control of a nonlinear magnetic suspension system was investigated. Wang et al [40] proposed a motion synchronization control technique based on linear extended state observer to handle the force fighting problem in hybrid actuation system.…”

Section: Introductionmentioning

confidence: 99%

Variable-Structure Near-Space Vehicles with Time-Varying State Constraints Attitude Control Based on Switched Nonlinear System

Feng

Wang

Liu

et al. 2020

Sensors

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This study is concerned with the attitude control problem of variable-structure near-space vehicles (VSNSVs) with time-varying state constraints based on switched nonlinear system. The full states of vehicles are constrained in the bounded sets with asymmetric time-varying boundaries. Firstly, considering modeling uncertainties and external disturbances, an extended state observer (ESO), including two distinct linear regions, is proposed with the advantage of avoiding the peaking value problem. The disturbance observer is utilized to estimate the total disturbances of the attitude angle and angular rate subsystems, which are described in switched nonlinear systems. Then, based on the estimation values, the asymmetric time-varying barrier Lyapunov function (BLF) is employed to construct the active disturbance rejection controller, which can ensure the full state constraints are not violated. Furthermore, to resolve the ‘explosion of complexity’ problem in backstepping control, a modified dynamic surface control is proposed. Rigorous stability analysis is given to prove that all signals of the closed-loop system are bounded. Numerical simulations are carried out to demonstrate the effectiveness of the proposed control scheme.

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“…A spherical air bearing positioning system using electromagnetic actuators has been also developed in [17]. Other important applications of magnetic suspension systems have been reported in [18][19][20]. Hence, active suspension systems using electromagnetic actuators represent a feasible and efficient alternative for undesirable vibration attenuation and isolation.…”

Section: Introductionmentioning

confidence: 99%

“…In this regard, algebraic parametric identification methods have been also proposed for online reconstruction of unknown excitation forces [26][27][28]. Bounded disturbances have been also locally modelled by certain order Taylor polynomials for synthesis of asymptotic extended state observers for robust and efficient trajectory tracking control tasks on nonlinear magnetic suspension systems [19,20] and active nonlinear vibration suppression on mechanical systems [29].…”

Section: Introductionmentioning

confidence: 99%

An Active Vehicle Suspension Control Approach with Electromagnetic and Hydraulic Actuators

Beltrán-Carbajal

Valderrabano‐Gonzalez

Favela‐Contreras

et al. 2019

Actuators

Self Cite

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An active vibration control approach from an online estimation perspective of unavailable feedback signals for a quarter-vehicle suspension system is introduced. The application of a new signal differentiation technique for the online estimation of disturbance trajectories due to irregular road surfaces and velocity state variables is described. It is assumed that position measurements are only available for active disturbance suppression control implementation. Real-time signal differentiation is independent of detailed mathematical models of specific dynamic systems and control force generation mechanisms. Active control forces can be supplied by electromagnetic or hydraulic actuators. Analytical and simulation results prove the effective and fast dynamic performance of the online signal estimation as well as a satisfactory active disturbance attenuation on a quarter-vehicle active suspension system.

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Active Disturbance Rejection Control of a Magnetic Suspension System

Cited by 20 publications

References 19 publications

Composite active disturbance rejection robust control for a prototype of an active damping artificial ankle prosthesis

Composite active disturbance rejection robust control for a prototype of an active damping artificial ankle prosthesis

Variable-Structure Near-Space Vehicles with Time-Varying State Constraints Attitude Control Based on Switched Nonlinear System

An Active Vehicle Suspension Control Approach with Electromagnetic and Hydraulic Actuators

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