Pitching axis control for a satellite camera based on a novel active disturbance rejection controller

Liu, Bingyou; Jin, Yi; Zhu, Changan; Chen, Changzheng

doi:10.1177/1687814016689039

Cited by 6 publications

(6 citation statements)

References 23 publications

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“…In addition, a designed trajectory tracker of a multi-DOF robot based on ADRC technology had a good performance in the tracking effect without considering gravity compensation (Ye, 2017; Gao, 2021; Qiao et al , 2019). Furthermore, the ADRC method was used to design a controller for robotic tracking control based on uncalibrated vision (Liu, 2017). Similarly, a method of dynamic sliding mode control was used for mobile manipulator control (Wang et al ., 2020a, 2020b).…”

Section: Introductionmentioning

confidence: 99%

Research on active disturbance rejection control technique for underwater welding robot based on model compensation

Zhang

2023

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Purpose An active disturbance rejection controller (ADRC) based on model compensation is proposed in this paper. The method should first be taken a nominal model of the robot to compensate. Subsequently, the uncertain external disturbance is estimated and compensated is used an expansion state observer (ESO) in real time, which can reduce the estimating range of observation for ESO. The purpose of this paper is to suggest a novel method to improve the system tracking performance, as well as the dynamic and static performance index. Design/methodology/approach A welding robot is a complicated system with uncertainty, time-varying, strong coupling and a nonlinear system; it is more complex as if it is used in an underwater environment, and it is difficult to establish an accurate dynamic model for an underwater welding robot. Aiming at the tracking control of an underwater welding robot, it is difficult to achieve the control performance requirements by the conventional proportional integral derivative method to realize automatic tracking of the seam. Findings The simulation experiment is carried out by MATLAB/Simulink, and the application experiment is recorded. The experimental results show that the control method is correct and effective, and the system’s tracking performance is stable, and the robustness and tracking accuracy of the system are also improved. Originality/value The seam gets plumper and smoother, with better continuity and no undercut phenomenon.

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Section: Introductionmentioning

confidence: 99%

Research on active disturbance rejection control technique for underwater welding robot based on model compensation

Zhang

2023

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“…A designed trajectory tracker of a multi-degrees of freedom (DOF) robot based on ADRC technology had a good performance in the tracking effect without considering gravity compensation (Ye et al , 2017; Shi et al , 2020; Qiao, 2019). There was using ADRC to design controller for robotic tracking control based on uncalibrated vision (Liu et al , 2017; Huang and Su, 2019; Qiu et al , 2020; Ahmed and Ali Shah, 2022; Lu, 2022). And, there was using a method of dynamic SMC for mobile manipulator control (Yu et al , 2017; Suklabaidya et al , 2015; Duarte and Bohn, 2016; Taimoor, 2019; Mou and Wu, 2020).…”

Section: Introductionmentioning

confidence: 99%

The welding tracking technology of an underwater welding robot based on sliding mode active disturbance rejection control

Zhang²

2022

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Purpose A welding robot is a complicated system with uncertainty, time-varying, strong coupling and non-linear system. It is more complicated if it is used in an underwater environment. It is difficult to establish an accurate dynamic model for an underwater welding robot. Aiming at the tracking control of an underwater welding robot, it is difficult to achieve the control performance requirements by the classical proportional integral derivative control method to realize automatic tracking of the seam. The purpose of this paper is to suggest a novel method to deal with these issues. Design/methodology/approach To combine the advantages of active disturbance rejection control (ADRC) and sliding mode control (SMC) to improve the shortcomings of a single control method, a hybrid control method for an underwater welding robot trajectory tracking based on SMC_ADRC is proposed in this research work. Findings The simulation experiment of the proposed approach is carried out by Matlab/Simulink, and the welding experiment is recorded. The seam gets plumper and smoother, with better continuity and no undercut phenomenon. Originality/value The proposed approach is effective and reliable, and the system’s tracking performance is stable, which can effectively reduce chattering and improve system robustness.

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“…15 Active disturbance rejection control (ADRC), a robust control method to deal with uncertainty, has attracted extensive attention in many technical fields. 16 ADRC is a promising nonlinear control method proposed by Jingqing Han in the 1990s. 17 This method has strong anti-interference capability that does not completely depend on the mathematical model of the system, strong robustness, and dynamic compensation for internal and external system disturbances; thus, ADRC demonstrates good control performance, such as small overshoot and fast response.…”

Section: Introductionmentioning

confidence: 99%

“…15 Active disturbance rejection control (ADRC), a robust control method to deal with uncertainty, has attracted extensive attention in many technical fields. 16…”

Section: Introductionmentioning

confidence: 99%

Autonomous underwater vehicle depth control based on an improved active disturbance rejection controller

Zhang

Liu

Wang

2019

International Journal of Advanced Robotic Systems

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Large fluctuation, large overshoot, and uncertain external disturbance that occur when an autonomous underwater vehicle is in deep motion are difficult to address using the traditional control method. An optimal control strategy based on an improved active disturbance rejection control technology is proposed to enhance the trajectory tracking accuracy of autonomous underwater vehicles in actual bathymetric operations and resist external and internal disturbances. First, the depth motion and mathematical models of an autonomous underwater vehicle and propeller are established, respectively. Second, the control rate of the extended state observer and the nonlinear error feedback of the traditional active disturbance rejection control are improved by using a new nonlinear function. The nonlinearity, model uncertainty, and external disturbance of the autonomous underwater vehicle depth control system are extended to a new state, which is realized by an improved extended state observer. Third, the improved nonlinear state error feedback is used to suppress residual errors and provide high-quality control for the system. Simulation and experimental results show that under the same parameters, the traditional active disturbance rejection control has a small overshoot, fast tracking ability, and strong anti-interference ability. The optimized active disturbance rejection control and traditional active disturbance rejection control are applied to the deep-variation motion of autonomous underwater vehicles. Results show that the proposed optimal control strategy is not only simple and feasible but also demonstrates good control performance.

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Pitching axis control for a satellite camera based on a novel active disturbance rejection controller

Cited by 6 publications

References 23 publications

Research on active disturbance rejection control technique for underwater welding robot based on model compensation

Research on active disturbance rejection control technique for underwater welding robot based on model compensation

The welding tracking technology of an underwater welding robot based on sliding mode active disturbance rejection control

Autonomous underwater vehicle depth control based on an improved active disturbance rejection controller

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