Sliding mode control assisted by GPI observers for tracking tasks of a nonlinear multivariable Twin-Rotor aerodynamical system

Rojas-Cubides, Harvey; Cortés‐Romero, John; Coral-Enríquez, Horacio; Rojas, Herbert E.

doi:10.1016/j.conengprac.2019.04.002

Cited by 28 publications

(9 citation statements)

References 25 publications

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“…Regarding SMC, Rojas-Cubides et al [48] suggested a robust control scheme combining a first-order SMC approach with a high-order generalized proportional integral (GPI) observer to handle fault and parametric uncertainties, nonlinearities, and external disturbances, and verified simulation results experimentally on a 2-DOF helicopter where the proposed controller showed good results in terms of robustness and disturbance rejection capability. Faris et al [49] demonstrated the real-time implementation of a decentralized SMC for a TRMS that revealed the efficacy and robustness of the proposed controller in stabilizing and efficiently rejecting the external disturbances.…”

Section: Twin-rotor Systemsmentioning

confidence: 99%

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

2020

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This paper presents a review of the various control strategies that have been conducted to address and resolve several challenges for a particular category of unmanned aerial vehicles (UAVs), the emphasis of which is on the rotorcraft or rotary-wing systems. Initially, a brief overview of the important relevant definitions, configurations, components, advantages/disadvantages, and applications of the UAVs is first introduced in general, encompassing a wide spectrum of the flying machines. Subsequently, the focus is more on the two most common and versatile rotorcraft UAVs, namely, the twin-rotor and quadrotor systems. Starting with a brief background on the dual-rotor helicopter and a quadcopter, the full detailed mathematical dynamic model of each system is derived based on the Euler-Lagrange and Newton-Euler methods, considering a number of assumptions and considerations. Then, a state-of-the-art review of the diverse control strategies for controlling the rotorcraft systems with conceivable solutions when the systems are subjected to the different impediments is demonstrated. To counter some of these limitations and adverse operating/loading conditions in the UAVs, several innovative control techniques are particularly highlighted, and their performance are duly analyzed, discussed, and compared. The applied control techniques are deemed to produce a useful contribution to their successful implementation in the wake of varied constraints and demanding environments that result in a degree of robustness and efficacy. Some of the off-the-shelf developments in the rotorcraft systems for research and commercial applications are also presented.

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Section: Twin-rotor Systemsmentioning

confidence: 99%

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

2020

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“…Several variations under the ADRC approach have been developed in recent years, such as the generalized proportional-integral (GPI) control and its extension, also called GPI observer based on Sira-Ramírez H. 21 Both approaches have been extensively assessed in the literature across various fields. [22][23][24] In general, these ADRC applications have shown that: (i) observers can include a self-updating, time polynomial model of the nonlinear state-dependent perturbation; (ii) observers can approximately estimate the disturbance signal; and (iii) online estimation can be combined with linear feedback control and rejected. These qualities allow ADRC strategies to be applied to nonlinear systems where little information is available about the system model.…”

Section: Introductionmentioning

confidence: 99%

Active disturbance rejection control: an application to continuous microalgae photobioreactors

Sangregorio‐Soto,

Mazzanti,

Cortés‐Romero

et al. 2023

J of Chemical Tech & Biotech

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BACKGROUNDMathematical modelling is a widely employed approach for investigating the growth behaviour of microalgae. As a result, the development of model‐based controllers to regulate process variables has garnered increasing attention. However, despite the significant efforts invested in this area, control performance can be adversely affected by unmodelled dynamics and disturbances.RESULTSTwo active disturbance rejection controllers (ADRC) were designed to enable robust tracking of biomass concentration in continuous microalgae photobioreactors, with reduced reliance on the mathematical model of the system. The controllers were tuned to achieve a nonovershoot response and minimize settling time based on the culture's characteristics. Simulations were performed using optimal setpoints specific to each model. The results showcased a maximum output signal deviation of ±2.2%, ±7.8% and ± 7.62% for the Dunaliella tertiolecta, Isochrysis affinis galbana and Chlorella vulgaris models, respectively, regardless of the presence of simulated disturbances.CONCLUSIONSThe findings of this study significantly contribute to the advancement of the field of sustainable microalgae production. By introducing less dependent model‐based controllers, this research enhances the feasibility of implementing robust control strategies. These controllers require only knowledge of the equation system's order and the control gain function, simplifying the design process. This approach effectively addresses control performance degradation arising from unmodelled dynamics and disturbances. The ability to maintain desired process variables through ADRC controllers not only ensures improved control performance, but also supports the cultivation of specific microalgal species, when an accurate model is not available, thus promoting the overall progress and viability of microalgae biomass production. © 2023 Society of Chemical Industry.

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“…Regarding the control of these systems, in [19] an output feedback algorithm H ∞ is used to study the problem of disturbance attenuation. In [20], a control scheme based on the active rejection of disturbances for a 2DOFH is proposed. The algorithm contemplates the use of GPI-type observers to estimate the speed and disturbances caused by non-modeled dynamics and external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Integration of CNN in a Dynamic Model-Based Controller for Control of a 2DOF Helicopter With Tail Rotor Perturbations

et al. 2022

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This paper shows a proposal for a control scheme for the trajectory tracking problem in a Two Degree of Freedom Helicopter (2DOFH). For this purpose, a control scheme based on a feedback linearization combined with a Generalized Proportional Integral (GPI) controller is used. In order to implement linearization by feedback, it is required to know and have access to all the physical 2DOFH parameters, however, angular velocity and viscous friction are often not available. Commonly, state observers are used to know the angular velocity, however, estimating friction results out to be more complex. Therefore, we propose the use of a Convolutional Neural Network (CNN) to estimate viscous friction and angular velocity. The variables estimated by the CNN are entered into both the GPI and feedforward controllers. Thus, the system is brought to a linear representation that directly relates the GPI control to the dynamics of perturbations and non-model parameters. Finally, results of numerical simulations are shown that validate the robustness of our scheme in the presence of disturbances in the tail rotor, as well as the advantages of using a feedforward control based on a CNN. INDEX TERMSFriction estimation, Neural networks, Non-linear system, Tail rotor disturbance, Two degrees of freedom helicopter. Hence, different experimental prototypes have been developed to study helicopter dynamics [13]-[15]. One of the most popular consists of a Two Degree of Freedom Helicopter (2DOFH), which recreates the dynamic behavior of the helicopter in its pitch (θ) and yaw (ψ) rotations [15], [16].

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Sliding mode control assisted by GPI observers for tracking tasks of a nonlinear multivariable Twin-Rotor aerodynamical system

Cited by 28 publications

References 25 publications

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

Active disturbance rejection control: an application to continuous microalgae photobioreactors

Integration of CNN in a Dynamic Model-Based Controller for Control of a 2DOF Helicopter With Tail Rotor Perturbations

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