Input Shaping enhanced Active Disturbance Rejection Control for a twin rotor multi-input multi-output system (TRMS)

Yang, Xiao-Yan; Cui, Jianwei; Lao, Dazhong; Li, Donghai; Chen, Junhui

doi:10.1016/j.isatra.2016.02.001

Cited by 42 publications

(17 citation statements)

References 32 publications

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“…The range of parameters is wider and the system regulation is more flexible. The main design methods of controller are dominant pole method [25,26], optimization methods [27], and so on. In order to track and locate the space trajectory of the manipulator accurately, the fractional order controller is designed by using the method of amplitude, phase margin, and robustness constraints.…”

Section: Design Of Fractional Order Controller For the Manipulator Ofmentioning

confidence: 99%

“…In [25], a composite control method based on proportional-differential feedback and moment feed-forward was proposed to achieve the joint attitude of the mechanism. Similarly, a hybrid control method, which combined variable structure control and input shaping technology, was proposed in document [26] and applied to fast and agile maneuvering control of satellite attitude. The above two references [25,26] showed that compound control could not only effectively improve the anti-jamming performance of the system, but also improve the speed of trajectory tracking.…”

Section: Introductionmentioning

confidence: 99%

“…Similarly, a hybrid control method, which combined variable structure control and input shaping technology, was proposed in document [26] and applied to fast and agile maneuvering control of satellite attitude. The above two references [25,26] showed that compound control could not only effectively improve the anti-jamming performance of the system, but also improve the speed of trajectory tracking. In view of the advantages of fractional order algorithm and composite control method, a composite control method combining fractional order controller and input shaping technology is developed for the space trajectory tracking and precise positioning of the manipulator of mine-used bolter, which ensures that the manipulator can efficiently, safely, and steadily complete the trajectory tracking and positioning while working underground.…”

Section: Introductionmentioning

confidence: 99%

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Study on the Control Method of Mine-Used Bolter Manipulator Based on Fractional Order Algorithm and Input Shaping Technology

Jun

Huang

2018

Mathematical Problems in Engineering

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Mine-used bolter is the main equipment to solve the imbalance of excavation and anchor in well mining, and the manipulator is the main working mechanism of mine bolt drilling rig. The manipulator positioning requires high rapidity and stability. For this reason, this paper proposes a composite control method of “input shaping + fractional order PDμ control”. According to the mathematical model of the valve-controlled cylinder, the fractional-order controller PDμ is developed. At the same time, the input shaping is used to feed forward the accurate positioning and path planning of the manipulator, which not only improves the robustness of the system, but also shortens the stability time of the system and restrains the maximum amplitude of the system vibration. In this paper, the control effects of fractional order PDμ controller and integer order PD controller are compared. The results show that the maximum amplitude of the control system is reduced by 75% and the stabilization time is reduced by 60% after using the fractional order PDμ controller, which fully reflects the superiority of the fractional order controller in response speed, adjusting time, and steady-state accuracy. Finally, the control effects of “input shaping + fractional order PDμ control” and fractional order PDμ controller on the stability of the system are compared. The maximum amplitude of the system was reduced by 50% by using “input shaping + fractional order PDμ control”. Numerical simulation confirms the feasibility and effectiveness of the composite control method. This composite control method provides theoretical support for the precise positioning of the manipulator, and the high stability and high safety of the manipulator also expand the application scope and depth of the composite control method.

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Section: Design Of Fractional Order Controller For the Manipulator Ofmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Study on the Control Method of Mine-Used Bolter Manipulator Based on Fractional Order Algorithm and Input Shaping Technology

Jun

Huang

2018

Mathematical Problems in Engineering

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“…To further widen its applicability in different fields, scholars have introduced improvements to ADRC in many aspects. For example, Yang, Cui, and Lao (2016) proposed a method for two-degree-of-freedom TRMS control based on activedisturbance rejection control and input shaping. According to the experimental results, the method was effective against interference under complex coupling conditions.…”

Section: Introductionmentioning

confidence: 99%

Linear inverted pendulum control based on improved ADRC

Liu

Hong

Wang

2019

Systems Science & Control Engineering

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An improved active disturbance rejection control (ADRC) strategy is proposed for the control precision improvement of the trolley position and the pendulum angle of the linear inverted pendulum. First, a new nonlinear function with improved continuity and conductivity around the zero point is designed. On the basis of this new function, the control rates of the extended state observer (ESO) and the nonlinear state error feedback (NSEF) of the traditional ADRC controller are improved. Second, with the improved ESO, the various disturbances of the trolley position and the swing angle of the first-order linear inverted pendulum are expanded into two states. These two states are then observed in real time and linearly compensated. Third, with the improved control rate of the NSEF, the nonlinear integration method is adopted to nonlinearly combine the differential and the error differentials and subsequently provide high quality control to the system. Finally, simulation and experimental verification of the linear inverted pendulum control system based on the improved ADRC are conducted. Results show that the proposed control strategy has higher control precision and robustness than the double-closed-loop PID.

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“…Feng and Guo adopted the ADRC control approach to stabilize a system described by the partial differential equation with corrupted output feedback [32]. Yang, Sun, Zhang, and Huang et al used similar methods and had the similar situations [7,8,15,16]. 5In [33], the nonminimum phase system is actually a noncascaded integral system.…”

Section: Introductionmentioning

confidence: 99%

ADRC Method for Noncascaded Integral System Based on the Total Derivative of Composite Functions of Several Variables

Huang

Xiong

Wang

et al. 2016

Mathematical Problems in Engineering

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The standard ADRC controller usually selects the canonical plant in the form of cascaded integrators. However, the condition variables of practical system do not necessarily have the cascaded integral relationship. Therefore, this paper proposes a method of total derivative of composite functions of several variables and a structure, which can convert the state space system of noncascaded integral form into the cascaded integral form. In this way, the converted system can be directly controlled with ADRC. Meanwhile, the control of Chen chaotic system is discussed in detail to show the conversion and the controller design. The control performances under different levels of complication and different strengths of disturbance are comparably researched. The converted system achieves significantly better control effects under ADRC than that of the PID. This converting method solves the control problem of some noncascaded integral systems in both theory and application and greatly expands the application scope of the standard ADRC method.

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Input Shaping enhanced Active Disturbance Rejection Control for a twin rotor multi-input multi-output system (TRMS)

Cited by 42 publications

References 32 publications

Study on the Control Method of Mine-Used Bolter Manipulator Based on Fractional Order Algorithm and Input Shaping Technology

Study on the Control Method of Mine-Used Bolter Manipulator Based on Fractional Order Algorithm and Input Shaping Technology

Linear inverted pendulum control based on improved ADRC

ADRC Method for Noncascaded Integral System Based on the Total Derivative of Composite Functions of Several Variables

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