Robust Active Disturbance Rejection Control of Induction Motor Systems Based on Additional Sliding-Mode Component

Alonge, F.; Cirrincione, Maurizio; D’Ippolito, Filippo; Pucci, Marcello; Sferlazza, Antonino

doi:10.1109/tie.2017.2677298

Cited by 101 publications

(51 citation statements)

References 25 publications

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“…Finally, the simulation results show the effectiveness, robustness, and good adaptability of the designed controller. The proposed design idea of reducing the tracking error can be extended to the tracking control of other types of systems [26][27][28][29][30][31][32][33][34][35][36][37][38][39][40] to improve the tracking accuracy and disturbance rejection performance of the controller.…”

Section: A Novel Robust Tracking Control Approach Based Onmentioning

confidence: 99%

“…Similar to the gain settings of the LESO in many other types of control systems, [29][30][31][32][33][34][35][36][37][38][39][40] the LESO with fixed preset observation gains is used in the tracking control of the antagonistic VSA based on ENTS. 40 However, the LESO with fixed preset observation gains always has estimation errors, especially when the reference trajectories change abruptly (i.e.…”

Section: Introductionmentioning

confidence: 99%

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Robust tracking control for two classes of variable stiffness actuators based on linear extended state observer with estimation error compensation

Guo

Xiao

2020

International Journal of Advanced Robotic Systems

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In this article, a novel robust tracking control scheme based on linear extended state observer with estimation error compensation is proposed for the tracking control of the antagonistic variable stiffness actuator based on equivalent nonlinear torsion spring and the serial variable stiffness actuator based on lever mechanism. For the dynamic models of these two classes of variable stiffness actuators, considering the parametric uncertainties, the unknown friction torques acting on the driving units, the unknown external disturbances acting on the output links and the input saturation constraints, an integral chain pseudo-linear system with input saturation constraints and matched lumped disturbances is established by coordinate transformation. Subsequently, the matched lumped disturbances in the pseudo-linear system are extended to the new system states, and we obtain an extended integral chain pseudo-linear system. Then, we design the linear extended state observer to estimate the unknown states of the extended pseudo-linear system. Considering the input saturation constraints in the extended pseudo-linear system and the estimation errors of the linear extended state observer with fixed preset observation gains, the adaptive input saturation compensation laws and the novel estimation error compensators are designed. Finally, a robust tracking controller based on linear extended state observer, sliding mode control, adaptive input saturation compensation laws, and estimating error compensators is designed to achieve simultaneous position and stiffness tracking control of these two classes of variable stiffness actuators. Under the action of the designed controller, the semi-global uniformly ultimately bounded stability of the closed-loop system is proved by the stability analysis of the candidate Lyapunov function. The simulation results show the effectiveness, robustness, and adaptability of the designed controller in the tracking control of these two classes of variable stiffness actuators. Furthermore, the simulation comparisons show the effectiveness of the proposed estimation error compensation measures in reducing the tracking errors and improving the disturbance rejection performance of the controller.

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Section: A Novel Robust Tracking Control Approach Based Onmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust tracking control for two classes of variable stiffness actuators based on linear extended state observer with estimation error compensation

Guo

Xiao

2020

International Journal of Advanced Robotic Systems

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“…The main idea behind the controller depicted in Figure 7 is as follows. When the current error is positive, i.e., i L1 > i re f , the output of Φ(S c ) will yield an off-duty larger than 0.5 to let the inductor current decrease, which can be found from (19). On the other hand, when the current error is negative, i.e., i L1 < i re f , the output of Φ(S c ) will yield an off-duty smaller than 0.5 to let the inductor current increase.…”

Section: Sliding-mode Current Controller With Pfcmentioning

confidence: 99%

“…In these switched-mode PFC converters, an idea about how to achieve zero reactive power with unity power factor (UPF) in AC source line is often discussed. Two classes roughly grouped from the presented PFC schemes are as follows: (1) integration and modification in hardware circuits of power converters [1][2][3][4][5][6][7][8][9]; and (2) application of the developed control techniques to AC-to-DC or DC-to-DC converters [10][11][12][13][14][15][16][17][18][19][20][21][22][23][24][25]. The studies in [1][2][3][4][5][6][7][8][9] can be summarized as follows: in [1,2], an additional LC-diode clamper or snubber was integrated into the specified or multilevel converters so that the PFC was completed through the additional clamper or snubber.…”

Section: Introductionmentioning

confidence: 99%

A Sliding Surface-Regulated Current-Mode Pulse-Width Modulation Controller for a Digital Signal Processor-Based Single Ended Primary Inductor Converter-Type Power Factor Correction Rectifier

Shieh

Chen

2017

Energies

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Abstract:To efficiently supply wide-range DC voltage from a pulse-width modulation (PWM) rectifier, this paper presents a single-phase, full-wave, diode-bridge, single-ended primary-inductor converter-type (SEPIC-type) power-factor-correction (PFC) rectifier in continuous conduction mode with a sliding surface-regulated current-mode PWM controller. According to the switched-mode operation of the rectifier, a fourth-order switch model of the SEPIC is derived. From the fourth-order model, a simplified state-averaged model which approximately describes the dynamic behaviors of both the output voltage and inductor current is proposed. Then, from the simplified state-averaged model, the sliding surface-regulated current-mode PWM controller for the SEPIC-type PFC rectifier is proposed. The sliding surface-regulated current-mode PWM controller comprises a sliding-mode voltage controller in outer loop for robust control of the output DC-voltage and a sliding-mode current controller in inner loop for phase-synchronized control of the inductor current. For experimental studies, implementation of the proposed control algorithm in a DSP controller and a laboratory prototype of the SEPIC-type rectifier with the DSP-based PWM controller were carried out. Experimental results from the DSP controller-applied SEPIC-type rectifier are illustrated to confirm the validity of the proposed controller for practical applications.

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“…On the other hand, SMC is known as an efficient tool well suitable for controlling complex uncertain processes due to its higher robustness against dynamic uncertainties and unknown disturbances [22][23][24]. However, the SMC has a major drawback, which consists in using a…”

Section: Introductionmentioning

confidence: 99%

Robust Interval Type-2 Fuzzy Sliding Mode Control Design for Robot Manipulators

et al. 2018

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This paper develops a new robust tracking control design for n-link robot manipulators with dynamic uncertainties, and unknown disturbances. The procedure is conducted by designing two adaptive interval type-2 fuzzy logic systems (AIT2-FLSs) to better approximate the parametric uncertainties on the system nominal. Then, in order to achieve the best tracking control performance and to enhance the system robustness against approximation errors and unknown disturbances, a new control algorithm, which uses a new synthesized AIT2 fuzzy sliding mode control (AIT2-FSMC) law, has been proposed. To deal with the chattering phenomenon without deteriorating the system robustness, the AIT2-FSMC has been designed so as to generate three adaptive control laws that provide the optimal gains value of the global control law. The adaptation laws have been designed in the sense of the Lyapunov stability theorem. Mathematical proof shows that the closed loop control system is globally asymptotically stable. Finally, a 2-link robot manipulator is used as case study to illustrate the effectiveness of the proposed control approach.

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Robust Active Disturbance Rejection Control of Induction Motor Systems Based on Additional Sliding-Mode Component

Cited by 101 publications

References 25 publications

Robust tracking control for two classes of variable stiffness actuators based on linear extended state observer with estimation error compensation

Robust tracking control for two classes of variable stiffness actuators based on linear extended state observer with estimation error compensation

A Sliding Surface-Regulated Current-Mode Pulse-Width Modulation Controller for a Digital Signal Processor-Based Single Ended Primary Inductor Converter-Type Power Factor Correction Rectifier

Robust Interval Type-2 Fuzzy Sliding Mode Control Design for Robot Manipulators

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