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This paper considers the path following problem of underactuated marine surface vessel in the presence of model uncertainty and external disturbances. A robust control strategy is proposed by employing the dynamic surface control and extended state observer. The key features of the presented control strategy include that, first, the extended state observer is proposed to estimate the model uncertainty...
This paper studies the problem of robust decentralized control for a class of large-scale interconnected systems subject to uncertainties and disturbances via a generalized active disturbance rejection control method. First, a novel extended state observer (ESO) is constructed separately for each subsystem with less dependence of the precise system information and structure. Second, an explicit formula...
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...
In this paper, we propose a novel control scheme to solve trajectory tracking problem of two-link flexible manipulator system. The partly linear flexible system is obtained via using the nonlinear decoupling feedback control method. An extended state observer is introduced to estimate the system's nonlinear part. Back-stepping controller is designed to guarantee manipulator tracking desired trajectory...
A new driving mode that using servo motor to drive continuous casting mold oscillated following the expected non-sinusoidal (include sinusoidal) is introduced. For this system, the integral nonlinear mathematical model is built, which contains the nonlinear model of servo motor and the mechanical transmission parts of the mold. Because the servo motor rotates continuously in single direction while...
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...
In this paper, we focus on the design of a nonlinear robust controller for a small-scale helicopter. A three-layer control architecture is adopted: the inner loop controller is designed combining second-order sliding mode control with extended state observer to control the angular rates and yield good robustness properties with respect to model uncertainties and gust disturbances; the middle loop...
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 addresses high-precision Mars entry guidance and control approach via sliding mode control (SMC) and Extended State Observer (ESO). First, differential flatness (DF) approach is applied to the dynamic equations of the entry vehicle. The presented control law requires no information on high uncertainties that are estimated by ESO. Finally, simulation results are presented to demonstrate...
In this paper, a novel extended state observer (ESO) based integral sliding model control (ISMC) approach is proposed to achieve maximum power point tracking (MPPT) for direct-driven permanent magnet synchronous generator (PMSG) variable speed wind energy conversion systems (VS-WECS). The proposed control approach adopts optimum tip speed ratio tracking scheme to realize maximum wind energy capture...
Modeling uncertainties and measurement noise in physical servo systems severely deteriorate their tracking performance. In this paper, an output feedback control strategy which integrates a discontinuous robust control with extended state observer via feed-forward cancellation technique is proposed for high precision motion control of a dc motor. The designed extended state observer can estimate the...
Focusing on the problem that the guidance system exists model uncertainty and the disturbance caused by target maneuver in the terminal guidance program, a finite time converge guidance law with taking account of disturbance and terminal impact angle constraint is designed in this paper based on the extended state observer(ESO). Firstly, a finite time converge guidance law with taking no account of...
An adaptive maneuvering target tracking algorithm based on three-dimensional parameter identification model is put forward to solve three-dimensional maneuvering target tracking problem. Firstly a three-dimensional model parameter identification model is established. Then the extended state observer (ESO) and fading memory least squares method are applied to identify the model parameters. Finally...
This paper introduces an anti-interference robust control strategy for underactuated quadrotor UAV. The strategy consists of an extended state observer and a sliding mode controller. A high gain extended observer was designed to solve the problem of the low measurement accuracy of derivative of the state in real quadrotor UAV system. The oberver can estimate derivative of a given signal with a high...
A combination BTT control mode with the single moving mass and differential aileron is proposed in this paper for some engineering problems of long-range reentry maneuverable vehicle controlled by only one actuator. This control mode can not only avoid the elevator and rudder ablation to improve the efficiency of attitude control, but also reduce the quantity of moving mass actuator. According to...
Both vibrations and model uncertainties will pose great challenges for accurate attitude control of flexible spacecrafts. In this paper, an anti-disturbance proportional-derivative (PD) controller is designed to stabilize the attitude while rejecting the effects of flexible vibrations, environmental disturbances, and unmodeled dynamics, which are assumed as an extended state. This controller comprises...
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