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Fuzzy Sliding Mode Active disturbance Rejection Control of an Autonomous Underwater Vehicle-Manipulator System

Journal of Ocean University of China 2020年第5期19卷 1081-1093页

作者： ANG Hongdu LI Xiaogang LIU Xin KARKOUB Mansour ZHOU Liqin College of Engineering Ocean University of ChinaShandong Engineering Research Center of Marine Intelligent Equipment and InstrumentsQingdao 266100China Department of Investigation Sichuan Police CollegeLuzhou 646000China Mechanical Engineering Texas A&M University at QatarDoha 23874Qatar

In this paper, a fuzzy sliding mode active disturbance rejection control(FSMADRC) scheme is proposed for an autonomous underwater vehicle-manipulator system(AUVMS) with a two-link and three-joint manipulator. First, the AUVMS is separated into nine subsystems, and the combined effects of dynamic uncertainties, hydrodynamic force, unknown disturbances, and nonlinear coupling terms on each subsystem are lumped into a single total disturbance. Next, a linear extended state observer(LESO) is presented to estimate the total disturbance. Then, a sliding mode active disturbance rejection control(SMADRC) scheme is proposed to enhance the robustness of the control system. The stability of the SMADRC and the estimation errors of the LESO are analyzed. Because it is difficult to simultaneously adjust several parameters for a LESO-based SMADRC scheme, a fuzzy logic control(FLC) scheme is used to formulate the FSMADRC to determine the appropriate parameters adaptively for practical applications. Finally, two AUVMS tasks are illustrated to test the trajectory tracking performance of the closed-loop system and its ability to reject and attenuate the total disturbance. The simulation results show that the proposed FSMADRC scheme achieves better performance and consume less energy than conventional PID and FLC techniques.

关键词： Fuzzy sliding mode active disturbance rejection controller(FSMADRC) linear extended state observer(LESO) auto-nomous underwater vehicle-manipulator system(AUVMS) total disturbance fuzzy logic control

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Active disturbance Rejection Controller Based Heading Control of Underwater Flight Vehicles

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Journal of Shanghai Jiaotong university(Science) 2020年第4期25卷 441-446页

作者： ZHENG Tianhai FENG Zhengping ZHAO Shuo PAN Wanjun School of Naval Architecture Ocean and Civil EngineeringShanghai Jiao Tong UniversityShanghai 200240China Collaborative Innovation Center for Advanced Ship and Deep Sea Exploration Shanghai Jiao Tong UniversityShanghai 200240China

The total disturbance estimated by the extended state observer(ESO)in active disturbance rejection controller(ADRC)is affected greatly by measurement noise when the control step is small in heading control of underwater flight vehicles(UFVs).In order to prevent rudder from high-frequency chattering caused by measurement noise,a tracking-differentiator(TD)is integrated to the ESO to develop an improved ADRC *** improved ADRC suppresses the impact of sensor *** the results of simulations and tank tests show the effectiveness of improved ADRC based heading control.

关键词： active disturbance rejection control(ADRC) tracking-differentiator(TD) extended state observer(ESO) total disturbance chattering underwater flight vehicle(UFV)

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Unified Control Theory from PID to ACPID

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Advances in Pure Mathematics 2024年第7期14卷 523-545页

作者： Zhezhao Zeng Yuqi Tang School of Electrical and Information Engineering Changsha University of Science and Technology Changsha China Hunan Zhe-Zhao Automation Control Technology Co. Ltd. Xiangtan China

To address the challenge of achieving unified control across diverse nonlinear systems, a comprehensive control theory spanning from PID (Proportional-Integral-Derivative) to ACPID (Auto-Coupling PID) has been proposed. The primary concept is to unify all intricate factors, including internal dynamics and external bounded disturbance, into a single total disturbance. This enables the mapping of various nonlinear systems onto a linear disturbance system. Based on the theory of PID control and the characteristic equation of a critically damping system, Zeng’s stabilization rules (ZSR) and an ACPID control force based on a single speed factor have been designed. ACPID control theory is both simple and practical, with significant scientific significance and application value in the field of control engineering.

关键词： Insert Nonlinear Systems PID Control ACPID Control total disturbance Unified Control Theory Zeng’s Stabilization Rules (ZSR)

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Control Design for Current Loop of PMSM Using A Modified Model-Compensation ADRC Controller

Control Design for Current Loop of PMSM Using A Modified Mod...

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第三十九届中国控制会议

作者： Yingning Gao Hui Zhao Kemao Ma Xin Huo Control and Simulation Center Harbin Institute of Technology

Active disturbance rejection control（ADRC） is now widely applied in motor drives due to its advantages like independence of system models and better disturbance rejection ability. For the current loop of PMSM, the uncertainties like model coupling and parameter variation can be estimated and compensated by ADRC. Considering that the total disturbance of current loop can be partially compensated for by available plant characteristics, the idea of model compensation can be applied to ADRC controller. However, the filter link in current feedback loop is usually ignored in conventional model compensation approach. Therefore, a modified model-compensation ADRC current control strategy considering the filter link effect is proposed in this paper, with simulation results show that better current tracking performance is achieved by the proposed control strategy.

关键词： Model-Compensation ADRC total disturbance Filter link Current loop

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