Modified reduced order observer based linear active disturbance rejection control for TITO systems

Analytical tuning rules for second-order reduced ADRC with SOPDT models

This paper presents a set of tuning rules for second-order reduced linear active disturbance rejection control for second-Order Plus-Dead-time (SOPDT) models. Rules are developed with a target to achieve a good compromise between tracking and disturbance rejection performances. Subsequently, it is formulated as a multi-objective optimization problem consisting of Integral Absolute tracking and regulatory errors as its objectives with a specified robustness level and a stability condition as constraints. The optimization problem is solved by a Multi-objective Quasi-Oppositional Rao-1 (MOQO-Rao-1) algorithm to generate the required Pareto optimal solutions. A compromised solution is chosen among these Pareto optimal solutions using Grey Relational Analysis (GRA). Finally, the resulting best solutions are used to fit a polynomial model using regression resulting in analytical tuning rules. Separate tuning rules are presented for lag-dominated and delay-dominated SOPDT models. The proposed tuning rules are validated through simulations on standard benchmark systems, power-system load frequency control problems, and experimentally on a temperature control system and DC motor control system. Furthermore, a condition on tuning parameters for closed-loop system stability is presented using the dual-locus method; the same is incorporated as one of the constraints in the proposed tuning framework.

Active Disturbance Rejection Control Based Sinusoidal Trajectory Tracking for an Upper Limb Robotic Rehabilitation Exoskeleton

In this paper, a combined control strategy with extended state observer (ESO) and finite time stable tracking differentiator (FTSTD) has been proposed to perform flexion and extension motion repetitively and accurately in the sagittal plane for shoulder and elbow joints. The proposed controller improves the tracking accuracy, performs state estimation, and actively rejects disturbance. A sinusoidal trajectory as an input has been given to a two-link multiple-input multiple-output (MIMO) upper limb robotic rehabilitation exoskeleton (ULRRE) for a passive rehabilitation purpose. The efficacy of the controller has been tested with the help of performance indices such as integral time square error (ITSE), integral square error (ISE), integral time absolute error (ITAE), and integral of the absolute magnitude of error (IAE). The system model is obtained through the Euler–Lagrangian method, and the controller’s stability is also given. The proposed controller has been simulated for ±20% parameter variation with constant external disturbances to test the disturbance rejection ability and robustness against parametric uncertainties. The proposed controller has been compared with already developed ESO-based methods such as active disturbance rejection control (ADRC), nonlinear active disturbance rejection control (NLADRC), and improved active disturbance rejection control (I-ADRC). It has been found that the proposed method increases tracking performance, as evidenced by the above performance indices.

Improved Active Disturbance Rejection Control for Trajectory Tracking Control of Lower Limb Robotic Rehabilitation Exoskeleton

Neurological disorders such as cerebral paralysis, spinal cord injuries, and strokes, result in the impairment of motor control and induce functional difficulties to human beings like walking, standing, etc. Physical injuries due to accidents and muscular weaknesses caused by aging affect people and can cause them to lose their ability to perform daily routine functions. In order to help people recover or improve their dysfunctional activities and quality of life after accidents or strokes, assistive devices like exoskeletons and orthoses are developed. Control strategies for control of exoskeletons are developed with the desired intention of improving the quality of treatment. Amongst recent control strategies used for rehabilitation robots, active disturbance rejection control (ADRC) strategy is a systematic way out from a robust control paradox with possibilities and promises. In this modern era, we always try to find the solution in order to have minimum resources and maximum output, and in robotics-control, to approach the same condition observer-based control strategies is an added advantage where it uses a state estimation method which reduces the requirement of sensors that is used for measuring every state. This paper introduces improved active disturbance rejection control (I-ADRC) controllers as a combination of linear extended state observer (LESO), tracking differentiator (TD), and nonlinear state error feedback (NLSEF). The proposed controllers were evaluated through simulation by investigating the sagittal plane gait trajectory tracking performance of two degrees of freedom, Lower Limb Robotic Rehabilitation Exoskeleton (LLRRE). This multiple input multiple output (MIMO) LLRRE has two joints, one at the hip and other at the knee. In the simulation study, the proposed controllers show reduced trajectory tracking error, elimination of random, constant, and harmonic disturbances, robustness against parameter variations, and under the influence of noise, with improvement in performance indices, indicates its enhanced tracking performance. These promising simulation results would be validated experimentally in the next phase of research.

Path following control for towing system of cylindrical drilling platform in presence of disturbances and uncertainties

Towing is a critical process to deploy a cylindrical drilling platform. However, the towing process faces a great variety of risks from a complex nautical environment, the dynamics in towing and maneuvering, to unexpected events. Therefore, safely navigating the towing system following a planned route to a target sea area is essential. To tackle the time-varying disturbances induced by wind, current and system parametric uncertainties, a path following control method for a towing system of cylindrical drilling platform is designed based on linear active disturbance rejection control. By utilizing Maneuvering Modeling Group model as well as a catenary model, we develop a three degree-of-freedom dynamic mathematical model of the towing system under external environmental disturbances and internal uncertainties. Furthermore, we design a linear active disturbance rejection control path following controller for real-time tracking error correction based on a guidance method combining cross-track error and parallax. Finally, the path following performance of the towing system is evaluated in a simulation environment under various disturbances and internal uncertainties, where the corresponding tracking error is analyzed. The results show that the linear active disturbance rejection control performs well under both the external disturbance and inherent uncertainties, and better satisfy the tracking performance criteria than a traditional proportional-integral-derivative controller.

A new design of drag-free and attitude control based on non-contact satellite

A novel non-contact satellite for drag-free and attitude control is proposed in this paper. The non-contact satellite is separated into a payload module and a service module by non-contact Lorentz actuators. Instead of thrusters, the non-contact Lorentz actuators are used to exerted precise forces and torques, enabling drag-free and attitude control of the payload module, while the service module is designed to track the payload module to avoid collision. On the basis of this new design, the dynamics of drag-free and attitude control can be precisely modeled. Accordingly, a hierarchical control algorithm, consisting of an EKF-based estimation and rejection of environmental acceleration of payload module, attitude control of payload module, minimum norm allocation of non-contact Lorentz actuators, as well as collaborative control of service module, is systematically designed. A numerical simulation is then conducted to demonstrate the validity and effectiveness of the proposed design.

Performance optimization of linear active disturbance rejection control approach by modified bat inspired algorithm for single area load frequency control concerning high wind power penetration

The linear active disturbance approach is employed to deal with the load frequency control issue of a single area wind power system based on doubly fed induction generator, and the performance of the control law is optimized by using the bat-inspired algorithm. The load frequency control issue has become more challenging in a complex power system based on wind energy conversion system due to the varying feature of the wind penetration, and sustaining the balance between the power generation and demand by rejecting the internal uncertainties in the process model and the external disturbances simultaneously. In the framework of the presented linear active disturbance rejection control approach, by constructing an extended state observer, the total disturbance, including all the unmodelled dynamics in the process model and the external disturbances, can be estimated in real time and then compensated by a simple linear PD control law. The controller parameters tuning is then simplified into the optimization of the two bandwidths: observer bandwidth, and the controller bandwidth. Then, this issue can be achieved by employing the heuristic modified bat inspired algorithm based on the optimization of the proposed performance index. The effectiveness of the proposed approach is validated by the extensive simulation examples of the load frequency control issue involved in the single area power system, taking into account different wind penetration, as well as the external disturbances. The performance robustness of the proposed approach against the parameters perturbation in the process model is also demonstrated via the Monte-Carlo method. The performance superiority of the proposed approach over the conventional Proportional Integral and Fuzzy-Proportional Integral based controller even in the presence of external disturbances and uncertainty in power system parameters under different cases of high wind penetration is also validated from the simulation results.