Composite disturbance rejection control based on generalized extended state observer

Zhang, Yanjun; Zhang, Jun; Wang, Lu; Su, Jianbo

doi:10.1016/j.isatra.2016.03.021

Cited by 31 publications

(16 citation statements)

References 23 publications

(36 reference statements)

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“…Note that in the reconstructed model of quadrotor, it can be verified that the pair (A, C) is observable [28].…”

Section: Design Of Hesomentioning

confidence: 90%

“…As for the DUEA control methodology, the control performance of closed loop system will be largely determined by the observation performance. However, the disturbances acting on quadrotor are periodic, which cannot be accurately estimated by traditional ESO thoroughly [28]. Therefore, in order to enhance the performance of feedback controller, a HESO is designed to estimate the periodic disturbances, and the stability analysis is carried out afterwards.…”

Section: Design and Stability Analysis Of Hesomentioning

confidence: 99%

“…Furthermore, the higher level of the observer order will lead to a higher observer gain, which will in return excite the sensor noise and introduce them into the control loop. The internal model principle is applied for generalized ESO in [28] and harmonic disturbance observer (HDO) in [29] by embedding the disturbance dynamics into the observer, and the disturbance estimation performance is improved.…”

Section: Introductionmentioning

confidence: 99%

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Harmonic Extended State Observer Based Anti-Swing Attitude Control for Quadrotor with Slung Load

Shi

Chou

2018

Electronics

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During the flight of the quadrotor, the existence of a slung load will exert a swing effect on the system and the motion of which will significantly change the dynamics of the quadrotor. The external torque caused by the slung load can be considered as a kind of disturbance and it is a threat to the attitude control stability of the system. In order to solve this problem, a high precision disturbance compensation method is presented in this paper, based on the harmonic extended state observer (HESO). Firstly, a generic mathematical model for the quadrotor-slung load system is obtained via the Lagrangian mechanics, and according to the analysis of the slung load motion, we obtain the disturbance as a form of periodic equation. Secondly, based on the dynamic model of the disturbance, we propose a HESO to achieve high precision disturbance estimation and its stability is proved by Lyapunov theory. Thirdly, we designed an attitude tracking controller based on backstepping method, and discussed the stability of the entire system. Finally, numerical simulations and real time experiments are carried out to evaluate the performance of the proposed method. Our results show that the robustness of the quadrotor subject to slung load has been improved.

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“…Note that in the reconstructed model of quadrotor, it can be verified that the pair (A, C) is observable [28].…”

Section: Design Of Hesomentioning

confidence: 90%

Section: Design and Stability Analysis Of Hesomentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Harmonic Extended State Observer Based Anti-Swing Attitude Control for Quadrotor with Slung Load

Shi

Chou

2018

Electronics

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“…And closed-loop poles determine the speed of response. The location of expected closed-loop poles reflects the system response speed and stability [5]. And also take into account the reason of actual system controller output is limited.…”

Section: The Principle Of Select State Feedback Polementioning

confidence: 99%

Application of the state observer in optimal control system

Xu¹,

Dong²

2017

Proceedings of the 2nd Annual International Conference on Electronics, Electrical Engineering and Information Science (EEEIS 20

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In today's industry, optimal control system which has reliable, stable performance and good man-machine interface is widely used. And state observer can solve the problem of the state reconstruction of the controlled system and create the condition for realizing state feedback. In this paper, the application of the relevant theoretical knowledge of state observer and state feedback pole assignment in the optimal control system will be studied and the control result is very good.

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“…11,12 The basic idea of this control strategy is the use of extended state observer (ESO), a novel observer for a class of uncertain systems, 13,14 to track the plant dynamics and unknown disturbances in real time and dynamically compensate for it in control effort. 12,15,16 With the accurate estimation of the plant dynamics and disturbances by the ESO, the ADRC can successfully drive the output of the drive axis to resonance. Recently, the ADRC is made only when control is taken as an experimental science, instead of a mathematical one.…”

Section: Introductionmentioning

confidence: 99%

Extended state observer/proportion integration differentiation compound control based on dynamic modelling for an aerial inertially stabilized platform

Zhou

Zhu

Zhao

et al. 2017

International Journal of Advanced Robotic Systems

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This article presents an extended state observer/proportion integration differentiation compound control scheme based on dynamic modelling for a three-axis inertially stabilized platform applied for aerial remote sensing. To reveal the effects of dynamic couplings among different gimbals and the base on the system control performance, the dynamic modelling of the inertially stabilized platform system is developed. Then, an extended state observer /proportion integration differentiation composite controller is designed to improve the tracking precision and stability of the inertially stabilized platform, whose disturbance rejection ability is analysed by simulations. During simulation analysis, the LuGre friction model is introduced to represent the effects of main disturbance torques. To verify the method, the experiments are conducted. The results show that the extended state observer/proportion integration differentiation compound scheme has excellent capability in disturbance rejection, by which the stabilization accuracy of the inertially stabilized platform has improved significantly.

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Composite disturbance rejection control based on generalized extended state observer

Cited by 31 publications

References 23 publications

Harmonic Extended State Observer Based Anti-Swing Attitude Control for Quadrotor with Slung Load

Harmonic Extended State Observer Based Anti-Swing Attitude Control for Quadrotor with Slung Load

Application of the state observer in optimal control system

Extended state observer/proportion integration differentiation compound control based on dynamic modelling for an aerial inertially stabilized platform

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