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Journal ArticleDOI

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

TL;DR: This reformulation uses an Extended State based Observer (ESO) to estimate the uncertainties and the various disturbances and is used to boost the robustness ability of a reference model-based control strategy (Interconnection and Damping Assignment-Passivity Based Control).
About: This article is published in IFAC-PapersOnLine.The article was published on 2019-01-01 and is currently open access. It has received 3 citations till now. The article focuses on the topics: Reference model & Observer (quantum physics).
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TL;DR: It is shown that the controller is able to reject the effects of both matched and unmatched disturbances, preserving the regulation of the nonpassive outputs of a class of port-Hamiltonian (pH) systems.
Abstract: 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.

22 citations

Journal ArticleDOI
TL;DR: 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.
Abstract: 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.

10 citations

References
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Journal ArticleDOI
TL;DR: In this paper, it was shown that weakly minimum phase nonlinear systems with relative degree one can be globally asymptotically stabilized by smooth state feedback, provided that suitable controllability-like rank conditions are satisfied.
Abstract: Conditions under which a nonlinear system can be rendered passive via smooth state feedback are derived. It is shown that, as in the case of linear systems, this is possible if and only if the system in question has relative degree one and is weakly minimum phase. It is proven that weakly minimum phase nonlinear systems with relative degree one can be globally asymptotically stabilized by smooth state feedback, provided that suitable controllability-like rank conditions are satisfied. This result incorporates and extends a number of stabilization schemes recently proposed for global asymptotic stabilization of certain classes of nonlinear systems. >

1,379 citations

Journal ArticleDOI
TL;DR: This work describes a class of systems for which IDA-PBC yields a smooth asymptotically stabilizing controller with a guaranteed domain of attraction, given in terms of solvability of certain partial differential equations.
Abstract: We consider the application of a formulation of passivity-based control (PBC), known as interconnection and damping assignment (IDA) to the problem of stabilization of underactuated mechanical systems, which requires the modification of both the potential and the kinetic energies. Our main contribution is the characterization of a class of systems for which IDA-PBC yields a smooth asymptotically stabilizing controller with a guaranteed domain of attraction. The class is given in terms of solvability of certain partial differential equations. One important feature of IDA-PBC, stemming from its Hamiltonian formulation, is that it provides new degrees of freedom for the solution of these equations. Using this additional freedom, we are able to show that the method of "controlled Lagrangians"-in its original formulation-may be viewed as a special case of our approach. As illustrations we design asymptotically stabilizing IDA-PBCs for the classical ball and beam system and a novel inertia wheel pendulum.

803 citations

Journal ArticleDOI
TL;DR: In this paper, two types of nonlinear controllers for an autonomous quadrotor helicopter are presented: a feedback linearization controller and an adaptive sliding mode controller using input augmentation in order to account for the underactuated property of the helicopter, sensor noise, and uncertainty.
Abstract: This paper presents two types of nonlinear controllers for an autonomous quadrotor helicopter. One type, a feedback linearization controller involves high-order derivative terms and turns out to be quite sensitive to sensor noise as well as modeling uncertainty. The second type involves a new approach to an adaptive sliding mode controller using input augmentation in order to account for the underactuated property of the helicopter, sensor noise, and uncertainty without using control inputs of large magnitude. The sliding mode controller performs very well under noisy conditions, and adaptation can effectively estimate uncertainty such as ground effects.

637 citations

Journal ArticleDOI
TL;DR: The fundamental theory, main new results and practical applications of this control system design approach are reviewed as well as to discuss the current open problems and future directions.

581 citations

Journal ArticleDOI
TL;DR: In this paper, an adaptive tracking controller based on output feedback linearization that compensates for dynamical changes in the center of gravity of the quadrotor is proposed to display agile maneuvers while reconfiguring in real time whenever a change in the centre of gravity occurs.

131 citations