A Tandem Active Disturbance Rejection Control for a Laboratory Helicopter With Variable-Speed Rotors

Published on Jul 7, 2016in IEEE Transactions on Industrial Electronics8.236
· DOI :10.1109/TIE.2016.2587238
Lidia M. Belmonte4
Estimated H-index: 4
(UCLM: University of Castilla–La Mancha),
Rafael Morales18
Estimated H-index: 18
(UCLM: University of Castilla–La Mancha)
+ 1 AuthorsJosé A. Somolinos15
Estimated H-index: 15
(UPM: Technical University of Madrid)
Sources
Abstract
This paper introduces a laboratory helicopter with a variable-speed rotor system based on decentralized active disturbance rejection control. The new control scheme is composed of two independent stages that are utilized to achieve the precise trajectory tracking of the generalized coordinates of the system. A simplified model is proposed at each stage, which highly simplifies the controller design task. High-gain generalized proportional integral observers are considered in order to locally estimate all the disturbances affecting each subsystem online. These estimated disturbances are used in the control law of each stage to eliminate the effects of these disturbances on the system performance. Some of the advantages of the proposed control are: 1) it only requires the knowledge of the input gain to the subsystems (minimum information required from the dynamical models to control them); 2) the robust controller design procedure is simplified; 3) easier and safer implementation with regard to standard controllers; and 4) high robustness to large initial errors, unmodeled unmatched perturbations, noisy measurements, and parametric uncertainties in the model. The effectiveness of the proposed approach has been verified with real experiments conducted on a laboratory platform.
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References23
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#1Antonio Fernández-Caballero (UCLM: University of Castilla–La Mancha)H-Index: 33
#2Lidia M. Belmonte (UCLM: University of Castilla–La Mancha)H-Index: 4
Last. José A. Somolinos (UPM: Technical University of Madrid)H-Index: 15
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In this article, a generalized proportional integral (GPI) control approach is presented for regulation and trajectory tracking problems in a nonlinear, multivariable quadrotor system model. In the feedback control law, no asymptotic observers or time discretizations are needed in the feedback loop. The GPI controller guarantees the asymptotically and exponentially stable behaviour of the controlled quadrotor position and orientation, as well as the possibilities of carrying out trajectory track...
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#2In Hyuk Kim (Myongji University)H-Index: 4
Last. Hyungbo Shim (SNU: Seoul National University)H-Index: 28
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This paper addresses the problem of preserving the nominal performance of a conventional cascade controller for electric motor drives in the presence of parameter uncertainties and external disturbances. Practical reduced-order proportional-integral (PI) observers are incorporated with predesigned PI controllers in order to enhance the robust performance of current and speed controllers. A unified analysis based on the singular perturbation theory is presented to confirm the desired approximatio...
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#1Rafael Morales (UCLM: University of Castilla–La Mancha)H-Index: 18
#2Hebertt Sira-Ramírez (CINVESTAV)H-Index: 62
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A linearizing robust dynamic output feedback control scheme is proposed for earth coordinate position variables trajectory tracking tasks in a hovercraft vessel model. The controller design is carried out using only position and orientation measurements. A highly simplified model obtained from flatness considerations is proposed which vastly simplifies the controller design task. Only the order of integration of the input-to-flat output subsystems, along with the associated input matrix gain, is...
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#1Sumit Kumar Pandey (BIT Mesra: Birla Institute of Technology, Mesra)H-Index: 5
In this paper, twin rotor multi input multi output system (TRMS) is considered as a prototype laboratory set-up of helicopter. The aim of studying the model of TRMS and designing the controller for it is to provide a platform for controlling the flight of helicopter. An optimal state feedback controller based on linear quadratic regulator (LQR) technique has been designed for twin rotor multi input multi output system. TRMS is a nonlinear system with two degrees of freedom and cross couplings. T...
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#1J. Chocoteco (UCLM: University of Castilla–La Mancha)H-Index: 4
#2Rafael Morales (UCLM: University of Castilla–La Mancha)H-Index: 18
Last. Hebertt Sira-Ramírez (CINVESTAV)H-Index: 62
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This paper addresses the trajectory tracking control problem of robotic wheelchairs in the presence of modeling uncertainties. The controller has been designed using position and angular measurements. A global ultra-model, or simplified model achieved from flatness considerations is proposed first. This model highly reduces the design complexity of the state estimation and the output feedback control tasks since it groups, as an unknown time-varying disturbance, both the combined effects of all ...
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#1Rafael Morales (UCLM: University of Castilla–La Mancha)H-Index: 18
#2Hebertt Sira-Ramírez (CINVESTAV)H-Index: 62
Last. José A. Somolinos (UPM: Technical University of Madrid)H-Index: 15
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This article describes the design of a linear observer–linear controller-based robust output feedback scheme for output reference trajectory tracking tasks in the case of nonlinear, multivariable, nonholonomic underactuated mobile manipulators. The proposed linear feedback scheme is based on the use of a classical linear feedback controller and suitably extended, high-gain, linear Generalized Proportional Integral (GPI) observers, thus aiding the linear feedback controllers to provide an accurat...
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#1Hebertt Sira-Ramírez (CINVESTAV)H-Index: 62
#2Zhiqiang Gao (CSU: Cleveland State University)H-Index: 55
Last. Enrico Canuto (Polytechnic University of Turin)H-Index: 15
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In this article, the local trajectory tracking control problems -on the part of agents acting on a complex interconnection of nonlinear subsystems- are reformulated as active disturbance rejection control (ADRC) problems. The new approach gives rise to a more effective and practical robust decentralized solution, with virtually no information on local plants interaction dynamics and limited knowledge of each subsystem model. The key idea is that each agent regards all the nonlinear uncertainties...
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#1Sumit Kumar Pandey (BITS: Birla Institute of Technology and Science)H-Index: 5
This paper presents a proportional integral derivative (PID) controller with a derivative filter coefficient to control a twin rotor multiple input multiple output system (TRMS), which is a nonlinear system with two degrees of freedom and cross couplings. The mathematical modeling of TRMS is done using MATLAB/Simulink. The simulation results are compared with the results of conventional PID controller. The results of proposed PID controller with derivative filter shows better transient and stead...
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#1Joonho Lee (MSU: Michigan State University)H-Index: 6
#2Ranjan Mukherjee (MSU: Michigan State University)H-Index: 29
Last. Hassan K. Khalil (MSU: Michigan State University)H-Index: 66
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In this paper we utilize dynamic inversion together with high-gain observers to stabilize an inverted pendulum on a cart. Dynamic inversion is used to invert the nonlinear map involving the control input and the high-gain observers are used to estimate the states and terms related to acceleration variables. Through numerical simulations and experiments, it is shown that it is possible to stabilize the inverted pendulum on a cart and recover the performance of state feedback control.
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#1Bao-Zhu Guo (CAS: Chinese Academy of Sciences)H-Index: 50
#2Zhi-Liang ZhaoH-Index: 18
In this paper, the global and semiglobal convergence of the nonlinear active distur- bance rejection control (ADRC) for a class of multi-input multi-output nonlinear systems with large uncertainty that comes from both dynamical modeling and external disturbance are proved. As a result, a class of linear systems with external disturbance that can be dealt with by the ADRC is classified. The ADRC is then compared both analytically and numerically to the well-known in- ternal model principle. A num...
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Abstract This paper proposes an improved method of integral backstepping for real time control of a laboratory helicopter with variable speed rotors known as the Two-Rotor Aero-dynamic System (TRAS). The coupled system is decomposed into the horizontal subsystem (HS) and the vertical subsystem (VS) and traditional backstepping, augmented with direct integral action is designed for each subsystem. The transient response to both constant and time varying references is then simultaneously improved ...
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