Speed Control for the Pitching Axis of a Remote Sensing Camera Using an Improved Active Disturbance Rejection Controller

Liu, Bingyou

doi:10.1007/s12555-019-0126-1

Cited by 6 publications

(6 citation statements)

References 35 publications

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“…Consequently, the traditional function is supposed to be optimized. A new nonlinear function proposed for the design of improved ESO is shown in [33], which can be improved further.…”

Section: Improved Extended State Observermentioning

confidence: 99%

“…After completing the system transformation, some theorems, see [33] for details, are introduced to analyze stability of the designed system. Definition 1.…”

Section: Extended Circle Criteriamentioning

confidence: 99%

“…In [31], for the purpose of improving the tracking performance and robustness of robotic manipulators, the neural network (NN) algorithm is introduced to model predictive control (MPC). We have learned from previous studies that nonlinear ESO can obtain better performance than linear ESO [32][33][34]. However, the stability analysis of nonlinear ESO is a challenging work.…”

Section: Introductionmentioning

confidence: 99%

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Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer

Zhang

Wang

et al. 2021

Electronics

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Friction nonlinear disturbance is one of the main factors affecting the control performance of servo tracking system. In this paper, an improved Active Disturbance Rejection Control (ADRC) scheme of dual-axis servo turntable is researched to achieve accurate tracking. Firstly, the mathematical dynamics model of dual-axis servo tracking turntable system is established. The Elastoplastic model is used to describe nonlinear friction, in which the immeasurable part is extended to be a new state. Secondly, considering the smooth and monotonic increasing property of hyperbolic tangent function, an improved tracking differentiator is introduced, which can provide better noise attenuation performance. Thirdly, based on adjustable parameter systematic pole placement method, the fuzzy control algorithm is applied to realize the intelligent tuning of the improved Extended State Observer (ESO) gains, in which the input of the fuzzy controller is the estimation error, while the output is the observer bandwidth. Finally, the improved ADRC system is transformed into a Lurie system, then the extended circle criteria are adopted to analyze the absolute stability of the proposed system. Simulation and experimental verification of the improved ADRC method for the dual-axis turntable tracking servo system are conducted. Results illustrate the effectiveness and robustness of the proposed controller.

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“…Consequently, the traditional function is supposed to be optimized. A new nonlinear function proposed for the design of improved ESO is shown in [33], which can be improved further.…”

Section: Improved Extended State Observermentioning

confidence: 99%

“…After completing the system transformation, some theorems, see [33] for details, are introduced to analyze stability of the designed system. Definition 1.…”

Section: Extended Circle Criteriamentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer

Zhang

Wang

et al. 2021

Electronics

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“…It is well known that terminal sliding mode (TSM) provides better finite-time convergence characteristics, but the existing singularity problem limits the application of TSM. To solve the drawback, scholars have advanced nonsingular TSM (Liu et al, 2020b; Su and Zheng, 2020) and integral terminal sliding mode (ITSM) (Chen et al, 2021; Van et al, 2018). The sliding mode surface design method does not point out how the system state reaches the sliding mode surface.…”

Section: Introductionmentioning

confidence: 99%

Tansig type NLESO-based integral terminal sliding mode control for modular robot manipulators with uncertain disturbance: Theory and experimental verification

Dong

Cao

Cui

et al. 2023

Transactions of the Institute of Measurement and Control

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To overcome the mutual constraints between the system chattering and the arrival time in conventional sliding mode control in this paper, a tangent excitation function (tansig) type nonlinear extended state observer (NLESO)-based integral terminal sliding mode control is proposed to solve the trajectory tracking control task of the modular robot manipulators (MRMs) possessing strong coupling and complex time-varying properties. Through the joint torque feedback technology, the MRM system dynamic model is formulated; on this basis, the proposed NLESO based on tansig is utilized to estimate and compensate the system uncertain information, which are consisted of the friction, interconnected dynamic coupling, and external disturbance. The proposed NLESO can simplify the traditional extended state observer design parameters for theoretical analysis and practical application. The proposed tansig-type NLESO-based integral terminal sliding mode control integrated adaptive term exponential reaching law for MRMs is designed to diminish the arrival time when the system state converges to the equilibrium point. The presented algorithm improves the robotic system antidisturbance ability. Furthermore, the Lyapunov theory is utilized to verify stability of the proposed NLESO and closed-loop robotic system. Finally, the availability of the proposed algorithm is demonstrated by experiments.

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“…Many researchers have worked on this problem since the years 1950s and 1960s, among whom can be cited as Aizerman (1947), with the well known Aizerman conjecture, and Krasovskii (1953), Popov (1961), and Kalman (1963). In a way, research on the Lurie’s problem took a bigger leap in the 1980s, when works began to appear that linked the problem to other areas and approaches such as neural networks (Liao and Yu, 2008; Pinheiro and Colón, 2019); complex network (Li et al, 2012); chaos and chaos synchronization (Kazemy and Farrokhi, 2017); convex approach to the Lurie problem (Gapski and Geromel, 1994); linear parameter varying (LPV) system (Yu and Liao, 2019); uncertain systems (Tan and Atherton, 2003); Integral Quadratic Constraints (IQC) and Zames-Falb multipliers (Carrasco et al, 2016); μ analysis (Abtahi and Yazdi, 2019; Lee and Juang, 2005); and more recently the application of Lurie’s problem in modern control systems such as Hopfield neural network controls (Pinheiro and Colón, 2021), modeling Alzheimer’s disease (Pinheiro and Colón, 2020), tracking differential extended state observer (Wang et al, 2020) and in control rates of the extended state observer (ESO) for speed control system for the pitching axis of a remote sensing camera (Liu, 2020). In addition to all these new lines of application and study of the Luries problem, its study remains current in the aeronautical field, as can be seen in Imani and Montazeri-Gh (2019).…”

Section: Introductionmentioning

confidence: 99%

Analysis and synthesis of single-input-single-output Lurie type systems via H∞ mixed-sensitivity

Pinheiro

Colón

2021

Transactions of the Institute of Measurement and Control

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The goal of this paper is to present a different approach to the analysis of the absolute stability of Lurie type systems in the single-input-single-output (SISO) case using robust control theory. The proposed technique enables the design of controllers via [Formula: see text] mixed-sensitivity (S/KS/T), where, besides making the system absolutely stable, the performance problem can also be solved. In addition, it is also demonstrated that it is possible to make use of this new approach in time-delay Lurie type systems. Thus, through a new methodology, this work paves the way to the study of the absolute stability of multiple-inputs-multiple-outputs (MIMO) systems, aiming at a better generalization of the theory and enabling applications in other areas, such as neural networks. Examples, numerical simulations and application in Chua’s circuit are given to illustrate the results.

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Speed Control for the Pitching Axis of a Remote Sensing Camera Using an Improved Active Disturbance Rejection Controller

Cited by 6 publications

References 35 publications

Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer

Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer

Tansig type NLESO-based integral terminal sliding mode control for modular robot manipulators with uncertain disturbance: Theory and experimental verification

Analysis and synthesis of single-input-single-output Lurie type systems via H∞ mixed-sensitivity

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