In this paper we present a method for the addition of integral action to non-passive outputs of a class of port-Hamiltonian systems. The proposed integral controller is a dynamic extension, constructed from the open loop system, such that the closed loop preserves the port-Hamiltonian form. It is shown that the controller is able to reject the effects of both matched and unmatched disturbances, preserving the regulation of the non-passive outputs. Previous solutions to this problem have relied on a change of coordinates whereas the presented solution is developed using the original state vector and, therefore, retains its physical interpretation. In addition, the resulting closed loop dynamics have a natural interpretation as a Control by Interconnection scheme.

Integral control of port-Hamiltonian systems: non-passive outputs without coordinate transformation

In this paper, a mass adaptive control method combining with robust sliding mode control (SMC) and linear active disturbance rejection control (LADRC) is designed for the quadrotor load unmanned aerial vehicle (UAV) with mass variation. In detail, firstly, the mass variation in the quadrotor affects the position of its centroid, taking into account the changes of centroid position, which makes the established model more accurate. Moreover, a mass adaptive law is designed to eliminate the influence of mass variation. Secondly, SMC can enhance the robustness of the controller, improve the anti-disturbance performance and overcome the problem of low control precision caused by bandwidth limitation of LADRC. The linear extended state observer estimates the external disturbances of the system and the internal unmodeled dynamics caused by the SMC chattering in real time, and then, the total disturbance is compensated by the proportional–derivative controller. The proposed scheme combines the advantages of SMC and LADRC and complements each other. Thirdly, in order to simplify the parameter setting, the adaptive control is introduced in LADRC to adjust the controller parameters in real time, which is beneficial to the stability analysis of the control system. Then Lyapunov stability theory is used to prove the stability of the whole system. Finally, the simulation is compared with LADRC and dynamic surface active disturbance rejection control. The results show that the designed scheme has smaller overshoot and faster response speed, which proves its superiority. Moreover, the designed adaptive law is also effective, it can eliminate the influence of parameter deviation, so that the proposed scheme can track the reference signal stably even in the presence of disturbances. 

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H.C Lamraoui

Papers

Reinforcement of a Reference Model-based Control using Active Disturbance Rejection principle: application to quadrotor