Decoupled control scheme for output tracking of a general industrial nonlinear MIMO system using improved active disturbance rejection scheme

Abdul-Adheem, Wameedh Riyadh; Ibraheem, Ibraheem Kasim

doi:10.1016/j.aej.2019.09.016

Cited by 16 publications

(20 citation statements)

References 19 publications

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“…For controlling MIMO systems with disturbances and uncertainties, several control techniques were examined in the literature. In Reference [23], a decoupling control is proposed based on the decoupler matrix and the improved active disturbance rejection control. In Reference [24], robust tracking control of the MIMO system is presented and the second order sliding mode control (SMC) is used to establish the desired tracking.…”

Section: Related Workmentioning

confidence: 99%

“…• Case (1): Output Tracking Table 1. The parameters of the first configuration (conventional ADRC (CADRC)) [23]. Two reference signals, r 1 (t) = sin(t) and r 2 (t) = cos(t), were applied to the closed-loop system of Figure 3 to validate the output tracking capability of the decoupling control scheme using both CADRC and IADRC configurations.…”

Section: Second Configuration: the Improved Adrc (Iadrc)mentioning

confidence: 99%

“…The parameters of the first and second configuration of the decentralized ADRC scheme for the two channels are listed in Table 4; Table 5, respectively. The same scenarios used in the validation of the decoupled control scheme [23] were used here to check the effectiveness of the decentralized control scheme and compare between both schemes. •…”

Section: • Case (2): Input and State Decouplingmentioning

confidence: 99%

“…The same scenarios used in the validation of the decoupled control scheme [23] were used here to check the effectiveness of the decentralized control scheme and compare between both schemes.…”

Section: 40mentioning

confidence: 99%

“…In the decoupled ADRC scheme [23], the decoupling process was accomplished through the decoupler unit, where the control input for each channel was composed by gathering several control signals from each ADRC controller. For this reason, the energy consumed by each input was larger than the energy consumed in the decentralized ADRC scheme, in which the controlled system was decomposed into several SISO subsystems and an ADRC controller was responsible for controlling each SISO subsystem individually.…”

Section: Comparison Between the Proposed Decentralized Scheme And Thementioning

confidence: 99%

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Improved Active Disturbance Rejection-Based Decentralized Control for MIMO Nonlinear Systems: Comparison with The Decoupled Control Scheme

et al. 2020

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A decentralized control scheme is developed in this paper based on an improved active disturbance rejection control (IADRC) for output tracking of square Multi-Input-Multi-Output (MIMO) nonlinear systems and compared with the decoupled control scheme. These nonlinear MIMO systems were subjected to exogenous disturbances and composed of high couplings between subsystems, input couplings, and uncertain elements. In the decentralized control scheme, it was assumed that the input couplings and subsystem couplings were both parts of the generalized disturbance. Moreover, the generalized disturbance included other components, such as exogenous disturbances and system uncertainties, and it was estimated within the context of Active Disturbance rejection Control (ADRC) via a novel nonlinear higher order extended state observer (NHOESO) from the measured output and canceled from the input channel in a real-time fashion. Then, based on the designed NHOESO, a separate feedback control law was developed for each subsystem to achieve accurate output tracking for given reference input. With the proposed decentralized control scheme, the square MIMO nonlinear system was converted into approximately separate linear time invariant Single-Input-Single-Output (SISO) subsystems. Numerical simulations in a MATLAB environment showed the effectiveness of the proposed technique, where it was applied on a hypothetical MIMO nonlinear system with strong couplings and vast uncertainties. The proposed decentralized control scheme reduced the total control signal energy by 20.8% as compared to the decoupled control scheme using Conventional ADRC (CADRC), while the reduction was 27.18% using the IADRC.

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Section: Related Workmentioning

confidence: 99%

Section: Second Configuration: the Improved Adrc (Iadrc)mentioning

confidence: 99%

Section: • Case (2): Input and State Decouplingmentioning

confidence: 99%

Section: 40mentioning

confidence: 99%

Section: Comparison Between the Proposed Decentralized Scheme And Thementioning

confidence: 99%

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Improved Active Disturbance Rejection-Based Decentralized Control for MIMO Nonlinear Systems: Comparison with The Decoupled Control Scheme

et al. 2020

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An improved nonlinear extended state observer with adaptive variable gain

Yang

Xie

Dai

et al. 2022

Asian Journal of Control

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This paper proposes an improved nonlinear extended observer with adaptive gain (ANESO), which can be applied to systems with large disturbance amplitude changes without parameter re‐tuning. An ANESO is added an adaptive factor Ai$$ {A}_i $$ to the gain of the original NESO. The expression of Ai$$ {A}_i $$ is obtained by assuming that nonlinear extended states observer (NESO) and linear extended states observer (LESO) has the same characteristic of steady‐state error when the amplitude of disturbance turns. On this basis, an adaptive adjustment algorithm based on tracking error is designed. In addition, the stability of the proposed ANESO is analyzed by using the Routh‐Hurwitz criterion. Finally, through simulation experiments, the observation performance of ANESO was compared with NESO and switching extended state observer (SESO). The experimental results demonstrate that the observation performance of ANESO is hardly affected by the disturbance amplitude, and moreover, its observation precision is higher than that of NESO and SESO.

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Distributed extended state observer design and output feedback anti‐disturbance control for nonlinear interconnected systems: A dynamic memory event‐triggered mechanism

Liu,

Sun,

Hou

2023

Asian Journal of Control

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This paper investigates a distributed extended state observer design and output feedback anti‐disturbance control for nonlinear interconnected systems (ISs) with multiple disturbances. First, a distributed extended state observer with a sparse observer communication network is established to estimate the system states and external disturbances. Then, an output feedback controller with a disturbance compensation (DC) item is designed, where a novel dynamic memory event‐triggered mechanism (DMETM) is proposed to save communication resources. Third, under the proposed controller, the closed‐loop signals are bounded and the system states and the estimation errors converge to zero. Additionally, the system outputs satisfy performance. Finally, the simulation examples demonstrate the effectiveness of the DMETM in reducing the number of data transmissions compared to the dynamic event‐triggered mechanism (ETM).

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Decoupled control scheme for output tracking of a general industrial nonlinear MIMO system using improved active disturbance rejection scheme

Cited by 16 publications

References 19 publications

Improved Active Disturbance Rejection-Based Decentralized Control for MIMO Nonlinear Systems: Comparison with The Decoupled Control Scheme

Improved Active Disturbance Rejection-Based Decentralized Control for MIMO Nonlinear Systems: Comparison with The Decoupled Control Scheme

An improved nonlinear extended state observer with adaptive variable gain

Distributed extended state observer design and output feedback anti‐disturbance control for nonlinear interconnected systems: A dynamic memory event‐triggered mechanism

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