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The extended state observer, a crucial part of the active disturbance rejection control, was first proposed in 1995 by Jingqing Han. The discrete-time form of the extended state observer has been extensively used in many practical applications in engineering such as quad-rotor robot control and non-circular machining control; the convergence property of the discrete-time n-dimensional extended state...
During its rapid development in the last few years, extended state observer (ESO) has been split into two typical forms: nonlinear ESO (NESO) and linear ESO (LESO). This paper proposes a novel class of time-varying ESOs (TESOs) which inherit the advantages, and meanwhile conquer the drawbacks, of both NESO and LESO. TESO is designed as a linear time-varying (LTV) form. To tune the time-varying observer...
The purpose of this paper is to study positioning control performance of the one-DOF manipulator driven by pneumatic artificial muscles using active disturbance rejection controller. Owing to the pneumatic artificial muscle's highly nonlinear and time-varying behavior, it is difficult to achieve good positioning performance. In this paper, the nonlinear and time-varying behavior of pneumatic artificial...
Spherical Unmanned Aerial Vehicle (UAV) is a typical nonlinear system. Its un-modeled dynamics, internal and external disturbance can both affect the flight control, which makes the design of the controller more complex. In order to improve dynamic performance, static performance and robustness of the control system, an Active Disturbance Rejection Control (ADRC) scheme of spherical UAV is presented...
This paper concerns with the condition for absolute stability of nonlinear active disturbance rejection control (ADRC) for SISO systems. Firstly, a nonlinear ADRC system for a linear plant is transformed into the form of a Lurie system, for which the off-axis circle criterion is applied and a sufficient condition is obtained. Furthermore, for comparison, the circle criterion and Popov criterion are...
Active disturbance rejection-based sliding mode control is proposed for the surface vessel with exogeneous disturbances to track desired trajectory robustly. A sliding surface based extended state observer is presented to estimate the lumped disturbances and compensate them in a feedforward form. To enhance the disturbances estimation speed and accuracy, a composite adaptive extended state observer,...
This paper presents an improved active disturbance rejection controller to study the trajectory tracking problem of a pneumatic servo system. It is a challenging job to track a given trajectory for pneumatic system with strong nonlinearity. The designed active disturbance rejection controller consists of tracking differentiator, extended state observer and nonlinear controller. Tracking differentiator...
Autonomous landing for unmanned seaplanes safely in severe sea states has been a great challenge for decades. A new autonomous landing system of an unmanned seaplane based on active disturbance rejection control (ADRC) is presented in this paper. Firstly, different landing phases of the unmanned seaplane are analyzed. Then according to the characteristics in the different phases, the autonomous landing...
This paper presents a simplified active disturbance rejection control (ADRC) method for implementing the DC capacitor voltage in Z-source constant. Active disturbance rejection control method is the development of PID control. It is suit ab le for the inverter with variable input. A simplified ADRC method is used in this paper to reject the disturbance from variable input in Z-source inverter. In...
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