On decoupling trajectory tracking control of unmanned powered parafoil using ADRC-based coupling analysis and dynamic feedforward compensation

Luo, Shijun; Sun, Qinglin; Sun, Mingwei; Tan, Panlong; Wu, Weibing; Sun, Hao; Chen, Zengqiang

doi:10.1007/s11071-018-4150-0

“…where (22) The LESO in (7) can also be written in the discrete form as follows: (23) where the integer τ(k) > 0 denotes the amount of time de lay. The desired observer poles have to be located to the z-domain via (24) Then, the discrete observer gains can be calculated by external disturbance in the ADRC [32]- [34]. Therefore, the same parameters can be used for the d-and q-current con trollers.…”

Section: Control Designmentioning

confidence: 99%

Active Disturbance Rejection Control of LCL-Filtered Grid-Connected Inverter Using Padé Approximation

Benrabah

¹

,

Xu

²

,

Gao

³

2018

IEEE Trans. on Ind. Applicat.

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In this paper, a simplified robust control is proposed to improve the performance of a three-phase current controlled volt age source inverter connected to the grid through an inductivecapacitive-inductive (LCL) filter. The presence of the LCL-filter resonance complicates the dynamics of the control system and lim its its overall performance, particularly when disturbances and parametric uncertainty are considered. To solve this problem, a robust active damping method based on the linear active distur bance rejection control (LADRC) is proposed. The simplification is made possible by order reduction in the plant transfer function using Padé approximation. Simulation results show that the pro posed LADRC-based current controller achieves high power qual ity and good dynamic performance, in the presence of parameters uncertainties as well as external disturbances. An experimental prototype is built to verify the effectiveness and practicality of the proposed control strategy. Index Terms-Active damping, active disturbance rejection control (ADRC), grid-connected inverter, LCL filter, Padé approximation.

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“…where (22) The LESO in (7) can also be written in the discrete form as follows: (23) where the integer τ(k) > 0 denotes the amount of time de lay. The desired observer poles have to be located to the z-domain via (24) Then, the discrete observer gains can be calculated by external disturbance in the ADRC [32]- [34]. Therefore, the same parameters can be used for the d-and q-current con trollers.…”

Section: Control Designmentioning

confidence: 99%

Active disturbance rejection control of LCL filtered grid-connected inverter using padé approximation

Benrabah

¹

,

Xu

²

,

Gao

³

2017

2017 IEEE Transportation Electrification Conference and Expo, Asia-Pacific (ITEC Asia-Pacific)

2

0

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In this paper, a simplified robust control is proposed to improve the performance of a three-phase current controlled volt age source inverter connected to the grid through an inductivecapacitive-inductive (LCL) filter. The presence of the LCL-filter resonance complicates the dynamics of the control system and lim its its overall performance, particularly when disturbances and parametric uncertainty are considered. To solve this problem, a robust active damping method based on the linear active distur bance rejection control (LADRC) is proposed. The simplification is made possible by order reduction in the plant transfer function using Padé approximation. Simulation results show that the pro posed LADRC-based current controller achieves high power qual ity and good dynamic performance, in the presence of parameters uncertainties as well as external disturbances. An experimental prototype is built to verify the effectiveness and practicality of the proposed control strategy. Index Terms-Active damping, active disturbance rejection control (ADRC), grid-connected inverter, LCL filter, Padé approximation.

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“…With that plant, the proposed system has a much wider prospect via the vertical control. However, compared with the traditional system, the proposed system also exists coupling influence between the horizontal and vertical controllers . Thus, the control effect of the both controllers will be influenced by each other.…”

Section: Introductionmentioning

confidence: 99%

“…However, compared with the traditional system, the proposed system also exists coupling influence between the horizontal and vertical controllers. 10 Thus, the control effect of the both controllers will be influenced by each other. Meanwhile, considering the large area of the parafoil canopy, the parafoil is originally sensitive to the external wind disturbance.…”

Section: Introductionmentioning

confidence: 99%

Altitude control for flexible wing unmanned aerial vehicle based on active disturbance rejection control and feedforward compensation

Sun

¹

,

Sun

²

,

Chen

³

et al. 2019

Intl J Robust & Nonlinear

Self Cite

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Summary For achieving the accurate trajectory tracking of the flexible wing unmanned aerial vehicle in the complicated missions, especially the vertical component, a feedforward compensation unit–based active disturbance rejection control (ADRC) is proposed. In ADRC, the internal dynamics and complicated influence of the total disturbance will be estimated and dynamically compensated by extended state observer (ESO). It puts a very high request on the observation ability of ESO with the unpredictable external disturbance, complex internal coupling influence, and the strong nonlinear characteristic of the proposed system. For this reason, by deeply analyzing the model of this system, the varying attitude influence on the altitude control will be deduced. Then, this influence will be compensated previously by a feedforward compensation unit. Through the previous compensation of the calculable part of the internal dynamics and total disturbance, the burden of ESO can be reduced largely. In this way, it improves the control effect of the ADRC with better observation precision of ESO. After that, based on the hardware‐in‐the‐loop simulation, the effectiveness of the proposed method is verified completely with the complicated flight missions. The robustness of the control effect and observation ability of ESO are also verified by the Monte Carlo simulation. At last, the results of actual flight experiment prove the advancement and practicability of the proposed ADRC method.

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On decoupling trajectory tracking control of unmanned powered parafoil using ADRC-based coupling analysis and dynamic feedforward compensation

Cited by 32 publications

References 31 publications

Active Disturbance Rejection Control of LCL-Filtered Grid-Connected Inverter Using Padé Approximation

Active Disturbance Rejection Control of LCL-Filtered Grid-Connected Inverter Using Padé Approximation

Active disturbance rejection control of LCL filtered grid-connected inverter using padé approximation

Altitude control for flexible wing unmanned aerial vehicle based on active disturbance rejection control and feedforward compensation

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