Robust DOBC for Stabilization Loop of a Two-Axes Gimbal System

Ren, Wei; Qiao, Q. Y.; Nie, Kang; Mao, Yao

doi:10.1109/access.2019.2933447

Cited by 13 publications

(5 citation statements)

References 20 publications

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“…Remark 4. The pseudo L consisting of solution K of the optimization problem (31) without constraint and pseudo plant G is the optimal solution of ( 29) with constraint L(s) ∈ Ω k .…”

Section: Solution Of the Optimization Design Problem Of Dobmentioning

confidence: 99%

“…In order to development of the analytic design method of

{H}_{\infty }

DOB, 8,13 proposed pseudo loop factorization and shaping (PLFS) method, in which the

{H}_{\infty }

norm condition on complementary sensitivity function for the robust stability is transformed into the

{H}_{\infty }

norm condition on Q‐filter itself and then standard

{H}_{\infty }

solution framework is applied to analytically derivate the optimized high order Q‐filter. In Reference 31, this method was employed to design high order DOB for attitude stabilization control of a two axes gimbal system. However, the model uncertainties in these applications were parameter variations of the plant but not uncertain time delay.…”

Section: Introductionsmentioning

confidence: 99%

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A design of disturbance observer in frequency domain for robust control of time delay system

Kim¹

2022

Adaptive Control & Signal

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Summary The disturbance observer (DOB) based robust control is widely used to suppress the effect of model uncertainty and disturbances. Improvement of disturbance suppression performance in DOB based control (DOBC) is achieved by expansion of the Q‐filter's bandwidth or equivalently increment of its cutoff frequency. However, if the system has time delay property, the bandwidth cannot be arbitrarily extended because of the stability demand of the closed loop system. Although the Q‐filter's bandwidth is restricted, there is still room for improving disturbance suppression performance by elaborately designing the Q‐filter's structure and coefficients. For the optimized design of Q‐filter, at the beginning of this paper, based on the analysis of the model uncertainty due to time delay and its upper bound, a new robust stability condition of closed loop system is derived as a type of inequality on complementary sensitivity function of whole closed loop system with DOB. Then a mixed sensitivity optimization problem for optimizing disturbance suppression performance under this stability condition is formulated with structural constraint. Finally, in order to solve this optimization problem, pseudo loop factorization and shaping method is used to transform it into standard H∞$$ {H}_{\infty } $$ control problem without the structural constraint so that it can be solved systematically. The results of illustrative examples and simulations validate the effectiveness of the proposed method.

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“…Remark 4. The pseudo L consisting of solution K of the optimization problem (31) without constraint and pseudo plant G is the optimal solution of ( 29) with constraint L(s) ∈ Ω k .…”

Section: Solution Of the Optimization Design Problem Of Dobmentioning

confidence: 99%

“…In order to development of the analytic design method of

{H}_{\infty }

DOB, 8,13 proposed pseudo loop factorization and shaping (PLFS) method, in which the

{H}_{\infty }

norm condition on complementary sensitivity function for the robust stability is transformed into the

{H}_{\infty }

norm condition on Q‐filter itself and then standard

{H}_{\infty }

Section: Introductionsmentioning

confidence: 99%

A design of disturbance observer in frequency domain for robust control of time delay system

Kim¹

2022

Adaptive Control & Signal

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“…DOBC can provide an effective disturbance attenuation technique for a wide range of systems without modifying the baseline controller (Liu et al, 2018). It can be considered as a patch to improve the robustness and stability of the baseline controller (Ren et al, 2019). To successfully estimate timevarying signals, these methods usually rely on high-gain technique to dominate unknown parts in the dynamics.…”

Section: Controller System Design and Stability Analysismentioning

confidence: 99%

Enhanced disturbance observer-based robust yaw servo control for ROVs with multi-vector propulsion

Gong

Lin

et al. 2021

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Purpose A novel proportional integral derivative-extended state disturbance observer-based control (PID-ESDOBC) algorithm is proposed to solve the nonlinear hydrodynamics, parameters perturbation and external disturbance in yaw control of remote operated vehicles (ROVs). The effectiveness of PID-ESDOBC is verified through the experiments and the results indicate that the proposed method can effectively track the desired attitude and attenuate the external disturbance. Design/methodology/approach This study fully investigates the hydrodynamic model of ROVs and proposes a control-oriented hydrodynamic state space model of ROVs in yaw direction. Based on this, this study designs the PID-ESDOBC controller, whose stability is also analyzed through Kharitonov theorem and Mikhailov criterion. The conventional proportional-integral-derivative (PID) and active disturbance rejection control (ADRC) are compared with our method in our experiment. Findings In this paper, the authors address the nonlinear hydrodynamics, parameters perturbation and external disturbance problems of ROVs with multi-vector propulsion by using PID-ESDOBC control scheme. The advantage is that the nonlinearities and external disturbance can be estimated accurately and attenuate promptly without requiring the precise model of ROVs. Compared to PID and ADRC, both in overshoot and settling time, the improvement is 2X on average compared to conventional PID and ADRC in the pool experiment. Research limitations/implications The delays occurred in the control process can be solved in the future work. Practical implications The attitude control is a kernel problem for ROVs. A precise kinematic and dynamic model for ROVs and an advanced control system are the key factors to obtain the better maneuverability in attitude control. The PID-ESDOBC method proposed in this paper can effectively attenuate nonlinearities and external disturbance, which leads to a quick response and good tracking performance to baseline controller. Social implications The PID-ESDOBC algorithm proposed in this paper can be ensure the precise and fast maneuverability in attitude control of ROVs or other underwater equipment operating in the complex underwater environment. In this way, the robot can better perform undersea work and tasks. Originality/value The dynamics of the ROV and the nominal control model are investigated. A novel control scheme PID-ESDOBC is proposed to achieve rapidly yaw attitude tracking and effectively reject the external disturbance. The robustness of the controller is also analyzed which provides parameters tuning guidelines. The effectiveness of the proposed controller is experimental verified with a comparison by conventional PID, ADRC.

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“…The basic idea of this method is to design a Disturbance Observer (DO) to estimate exogenous disturbances and further rejects the disturbances by combining the feed-forward compensator with the output information of DO (see [10]- [13]). It is noted that DOBC methods have been successfully applied into many practical systems, for example PMSM system [14], robot system [15], gimbal system [16] and spacecraft system [17]. However, when suffering with some nonlinear irregular disturbances, those existing active anti-disturbance results are usually difficult to deal with them.…”

Section: Introductionmentioning

confidence: 99%

Event-Triggered Integral Sliding Mode Anti-Disturbance Control for Nonlinear Systems Via T-S Disturbance Modeling

Zhang

2021

IEEE Access

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Under the framework of event triggering, this paper discusses a novel integral sliding mode (ISM) anti-disturbance algorithm for a class of nonlinear systems with mismatched disturbances. For the sake of describing more irregular disturbances, T-S fuzzy disturbance models are imported by choosing different basis functions and the corresponding disturbance observer (DO) is then put forward to realize the estimation of unknown disturbances. By utilizing the trigger threshold condition with the estimation information, both the integral sliding surface (ISS) and the event-triggered ISM controller are designed for compensating mismatched disturbances. It is guaranteed that the state trajectories can reach the ISS within a pre-designed finite time. Moreover, not only the system stability, but also the favorable tracking performance and the boundedness of the minimum trigger interval are simultaneously be achieved. Finally, the simulation results of an A4D aircraft model further embody the effective of designed control algorithm.

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Robust DOBC for Stabilization Loop of a Two-Axes Gimbal System

Cited by 13 publications

References 20 publications

A design of disturbance observer in frequency domain for robust control of time delay system

A design of disturbance observer in frequency domain for robust control of time delay system

Enhanced disturbance observer-based robust yaw servo control for ROVs with multi-vector propulsion

Event-Triggered Integral Sliding Mode Anti-Disturbance Control for Nonlinear Systems Via T-S Disturbance Modeling

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