Linear inverted pendulum control based on improved ADRC

Liu, Bingyou; Hong, Jinwen; Wang, Lichao

doi:10.1080/21642583.2019.1625081

Cited by 13 publications

(8 citation statements)

References 15 publications

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“…Many processes in the military, aircraft, robotics, and general industries can benefit from using IP control techniques, including those that deal with robot walking balance challenges, rocket launch important considerations, and satellite flying control problems. Thus, it is extremely important to use this approach to investigate the IP scheme 1 – 3 . Furthermore, the mechanism for producing force based on the electromagnetic impact to preserve the IP in balancing is produced in the IP system by applying the force to the upper end of the IP and the electromagnetic influence on the IP.…”

Section: Introductionmentioning

confidence: 99%

Dynamical analysis of an inverted pendulum with positive position feedback controller approximate uniform solution

Moatimid

EL-Sayed

Salman

2023

Sci Rep

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The inverted pendulum is controlled in this article by using the nonlinear control theory. From classical analytical mechanics, its substructure equation of motion is derived. Because of the inclusion of the restoring forces, the Taylor expansion is employed to facilitate the analysis. An estimated satisfactory periodic solution is obtained with the aid of the modified Homotopy perturbation method. A numerical technique based on the fourth-order Runge–Kutta method is employed to justify the previous solution. On the other hand, a positive position feedback control is developed to dampen the vibrations of an IP system subjected to multi-excitation forces. The multiple time scale perturbation technique of the second order is introduced as a mathematical method to solve a two-degree-of-freedom system that simulates the IP with the PPF at primary and 1:1 internal resonance. The stability of these solutions is checked with the aid of the Routh–Hurwitz criterion. A set of graphs, based on the frequency response equations resulting from the MSPT method, is incorporated. Additionally, a numerical simulation is set up with RK-4 to confirm the overall controlled performance of the studied model. The quality of the solution is confirmed by the match between the approximate solution and the numerical simulation. Numerous other nonlinear systems can be controlled using the provided control method. Illustrations are offered that pertain to implications in design and pedagogy. The linearized stability of IP near the fixed points as well as the phase portraits is depicted for the autonomous and non-autonomous cases. Because of the static stability of the IP, it is found that its instability can be suppressed by the increase of both the generalized force as well as the torsional constant stiffness of the spring. Additionally, the presence of the magnetic field enhances the stability of IP.

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Section: Introductionmentioning

confidence: 99%

Dynamical analysis of an inverted pendulum with positive position feedback controller approximate uniform solution

Moatimid

EL-Sayed

Salman

2023

Sci Rep

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“…But if nonlinear ADRC is used, the non-derivability of the fal function in some points has adverse effects on control circuit performance. Some efforts have been made to solve the non-derivability problem, e.g., using alternative functions but the number of calculations is increased [62][63][64].…”

Section: Traditional Control Methodsmentioning

confidence: 99%

Fault ride-through capability improvement in a DFIG-based wind turbine using modified ADRC

Mosayyebi

Shahalami

Mojallali

2022

Prot Control Mod Power Syst

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In this paper, an overview of several strategies for fault ride-through (FRT) capability improvement of a doubly-fed induction generator (DFIG)-based wind turbine is presented. Uncertainties and parameter variations have adverse effects on the performance of these strategies. It is desirable to use a control method that is robust to such disturbances. Auto disturbance rejection control (ADRC) is one of the most common methods for eliminating the effects of disturbances. To improve the performance of the conventional ADRC, a modified ADRC is introduced that is more robust to disturbances and offers better responses. The non-derivability of the fal function used in the conventional ADRC degrades its efficiency, so the modified ADRC uses alternative functions that are derivable at all points, i.e., the odd trigonometric and hyperbolic functions (arcsinh, arctan, and tanh). To improve the efficiency of the proposed ADRC, fuzzy logic and fractional-order functions are used simultaneously. In fuzzy fractional-order ADRC (FFOADRC), all disturbances are evaluated using a nonlinear fractional-order extended state observer (NFESO). The performance of the suggested structure is investigated in MATLAB/Simulink. The simulation results show that during disturbances such as network voltage sag/swell, using the modified ADRCs leads to smaller fluctuations in stator flux amplitude and DC-link voltage, lower variations in DFIG velocity, and lower total harmonic distortion (THD) of the stator current. This demonstrates the superiority over conventional ADRC and a proportional-integral (PI) controller. Also, by changing the crowbar resistance and using the modified ADRCs, the peak values of the waveforms (torque and currents) can be controlled at the moment of fault occurrence with no significant distortion.

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“…Artykuł [18] przedstawia analizę działania układu regulacji w przypadku śledzenia trajektorii przez teleskop astronomiczny w przypadku wystąpienia niepewności modelowania. Omawiana metoda jest także stosowana w napędzie elektrycznym [6,23], czy też do sterowania pozycją wózka z wahadłem odwróconym [11]. Na skutek rosnącej popularności metody regulacji ADRC tworzone są rozwiązania ułatwiające jej wykorzystanie, jak na przykład ADRC Toolbox w postaci gotowego bloku w programie Simulink, pozwalającego na szybkie prototypowanie [10].…”

Section: Wprowadzenieunclassified

Kalman Filter as an Alternative to Extended State Observer in ADRC Control Algorithm

Michalski,

Mrotek,

Kozierski

2024

PAR

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The article presents a modified Active Disturbance Rejection Control (ADRC) algorithm that uses the Kalman Filter (KF) for the estimation of extended state vector. The Kalman filter replaced the Extended State Observer (ESO) used in its basic form. The purpose of this modification was to improve the system robustness under conditions of stochastic measurement disturbances. The method of the control system synthesis and the Kalman filter gains selection, ensuring control efficiency, as well as their impact on the system operation, were presented. The experiments were carried out on a laboratory setup – the Ball Balancing Table (BBT). Control quality was assessed based on time plots of signals and integral performance indices for various algorithm gains configurations and different noise levels. As a result of the conducted research, the advantage of using the Kalman filter over the ESO in terms of sensitivity to measurement noises was demonstrated. Implementation of the Kalman filter as the ESO determined a positive impact on control quality and the ability to reject internal disturbance also in a deterministic system.

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Linear inverted pendulum control based on improved ADRC

Cited by 13 publications

References 15 publications

Dynamical analysis of an inverted pendulum with positive position feedback controller approximate uniform solution

Dynamical analysis of an inverted pendulum with positive position feedback controller approximate uniform solution

Fault ride-through capability improvement in a DFIG-based wind turbine using modified ADRC

Kalman Filter as an Alternative to Extended State Observer in ADRC Control Algorithm

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