Extended State Observer Research Articles

Active Disturbance Rejection Control of Permanent Magnet Synchronous Motor Based on RPLESO

In view of the problem of the low-speed jitter of household lawn mowers driven by a permanent magnet synchronous motor (PMSM) at low speeds and high torque, and the complicated parameters of traditional non-linear active disturbance rejection controllers, a partially optimized linear active disturbance rejection control (LADRC) driving PMSM strategy is proposed. First, the linear extended state observer (LESO), which bears a significant burden in terms of speed and load estimation in active disturbance rejection control, is optimized by reducing its order to improve the anti-disturbance performance of the active disturbance rejection controller within a limited bandwidth. Secondly, the reduced-order parallel linear extended state observer (RPLESO) is obtained by optimizing the parallel structure of the order-reduced LESO, which improves the control precision and robustness of the system. Through a simulation and experimental verification, the optimized LADRC control of the PMSM system is shown to improve the parameter adjustability, speed estimation precision and system robustness.

Robust Prescribed-Time ESO-Based Practical Predefined-Time SMC for Benthic AUV Trajectory-Tracking Control with Uncertainties and Environment Disturbance

The aim of this study is to address the trajectory-tracking control problem of benthic autonomous underwater vehicles (AUVs) subjected to model uncertainties and extra disturbance. In order to estimate lumped uncertainties and reconstruction speed information, this paper designs a robust prescribed-time extended state observer (RPTESO), and its prescribed time can be directly designed as an explicit parameter, without relying on the initial state of the system and complex parameter settings. In addition, an adaptive law is designed to improve the robustness of RPTSEO and reduce overshoot on the premise of ensuring convergence speed. Then, a non-singular robust practical predefined-time sliding mode control (RPPSMC) considering the hydrodynamic characteristics of AUV is designed, and the predefined time can be directly set by an explicit parameter. The RPPSMC is designed based on the lumped uncertainties estimated using RPTESO, so as to improve the control accuracy of the controller in a complex environment. Theoretical analysis and simulations demonstrated the effectiveness and superiority of the proposed method.

Oxygen excess ratio feedforward control based on ESO for PEMFC in DC off-grid hydrogen production systems

Oxygen excess ratio (OER), which is influenced by the air flow input to the cathode, is one of the important factors affecting the performance of fuel cell system. Insufficient oxygen supply will result in a sharp drop in output voltage, while an excessive supply will bring about a large parasitic power load on the air compressor, reducing the net output power of the system and operating efficiency. Both insufficient and excess oxygen supply can adversely affect the operating life of the proton exchange membrane fuel cell (PEMFC). Due to the serious nonlinear, hysteresis, uncertainty and interference in the process of OER control, this paper proposes an OER feedforward control based on extended state observer (ESO) for a PEMFC auxiliary system with the ESO to predict the total disturbance to improve the dynamic response of the system with large time delay utilizing terminal sliding mode control (TSMC). The control strategy is divided into two stages. The first stage constructs an ESO to realize real-time observation of the state variables required for the internal operation of the auxiliary machine system and the PEMFC, and yields the air compressor voltage control signal through terminal sliding mode control. In the second stage, combined with V/f control for the compressor, the transmitted air flow is adjusted, ultimately achieving the goal of changing the OER of the PEMFC and improving operating efficiency. The simulation results show that the proposed control strategy has good anti-interference capabilities, a faster response, and less overshoot. The gas flow transmission in the gas supply system is more robust, the PEMFC operation is safer, and its lifespan is extended.

Transverse vibration analysis and active disturbance rejection decoupling control of rain erosion whirling arm

The transverse vibration caused by the mass eccentricity of the whirling arm and the unbalanced magnetic pull of the motor rotor is a critical factor that affects the stability and safety of the rain erosion whirling arm. To investigate the transverse vibration characteristics of the rain erosion whirling arm during operation, a four-degree-of-freedom transverse vibration model of the rotor-rain erosion whirling arm is established using the lumped mass method. The differential equation of motion of the rotor-rain erosion whirling arm, considering the influence of mass eccentricity and unbalanced magnetic pull, is then established based on the Lagrange equation. This equation is numerically solved using the Runge-Kutta algorithm to investigate the axis trajectory and amplitude distribution of the rotor-rain erosion whirling arm. To reduce the fatigue damage caused by vibration, the active disturbance rejection decoupling control method is employed. Furthermore, the parameters of the extended state observer are adjusted using pole assignment and bandwidth. The simulation results reveal that the vibration amplitude of the rotating blade can be reduced to within 0.2 mm, referring to the BSS7393 test standard. Additionally, experimental research is conducted to compare the vibration of the rain erosion whirling arm before and after implementing the active disturbance rejection decoupling control. The results demonstrate that the active disturbance rejection decoupling control method effectively suppresses the vibration of the rain erosion whirling arm, illustrating its feasibility and effectiveness for system vibration control.

Attitude takeover control of spacecraft based on neural network predefined‐time extended state observer

Attitude takeover control of spacecraft based on neural network predefined‐time extended state observer

Modified active disturbance rejection control based on gain scheduling for circulating fluidized bed units

Circulating fluidized bed (CFB) units are extensively operated in China due to their wide fuel adaptability, low emissions and high combustion efficiency. Nevertheless, CFB units are facing many control challenges due to their strong nonlinearity and large lag characteristics. To handle these control challenges, a modified active disturbance rejection control based on gain scheduling is structured in this paper. Firstly, a decentralized active disturbance rejection control strategy based on gain scheduling is designed by analyzing control difficulties of CFB units. Then, the parameter tuning and scheduling methods are provided, and the convergence of the extended state observer during the scheduling process is derived theoretically. The advantages of the proposed method in tracking performance, disturbance rejection performance, and ability to reject fuel quality fluctuation and uncertain heat transfer coefficients are illustrated by comparative simulations. Finally, the proposed control strategy is practically applied to the main steam pressure system of a 300 MW CFB unit. Running data demonstrate that it has a faster tracking performance and better disturbance rejection ability in [50∼100]% of the rated load, where the hourly average integral absolute error index has decreased obviously, and it shows a good field application prospect.

Dynamics modeling and trajectory tracking control of a life support robot using sliding-mode control with extended state observer

This paper investigates the trajectory tracking control problem of a life support robot chassis under the slipping disturbances. First, a novel dynamics model for the robot chassis is proposed based on Lagrange equation. The constructed model incorporates the effects of rotational kinetic energy from the driving wheels, providing a more comprehensive representation of the chassis dynamics. Then, on the basis of the innovative framework, the dual-loop trajectory tracking control is derived for the chassis, via the kinematics-based backstepping controller and the dynamics-based sliding-mode controller. Moreover, an extended state observer is designed to reduce the influence caused by external disturbances. Finally, the effectiveness and superiority of the proposed tracking control approach are verified through simulation experiments.

Adaptive Distributed Heterogeneous Formation Control for UAV-USVs with Input Quantization

This paper investigates the cooperative formation trajectory tracking problem for heterogeneous unmanned aerial vehicle (UAV) and multiple unmanned surface vessel (USV) systems with input quantization performance. Firstly, at the kinematic level, a distributed guidance law based on an extended state observer (ESO) is designed to compensate for the unknown speed of neighbor agents for expected trajectory tracking, and subsequently at the dynamic level, an ESO is utilized to estimate model uncertainties and environmental disturbances. Following that, a linear analytic model is employed to depict the input quantization process, and the corresponding adaptive quantization controller is designed without necessitating prior information on quantization parameters. Based on the input-to-state stability, the stability of the proposed control structure is proved, and all the signals in the closed-loop system are ultimately bounded. Finally, a simulation study is provided to show the efficacy of the proposed strategy.

Disturbance Observer and Adaptive Control for Disturbance Rejection of Quadrotor: A Survey

Quadrotors are widely applied in many fields, but they often face various external disturbances in actual operation. This makes it necessary to design a controller that can handle disturbances. Disturbance observer and adaptive control techniques are commonly used disturbance rejection techniques, the core idea of which is to estimate the disturbances in real time and incorporate the estimated values into the controller to suppress the disturbances. In this paper, various disturbance observers and adaptive control techniques, including nonlinear disturbance observers, extended state observers, neural networks, and fuzzy logic systems, are introduced, along with their variants or different structures. These techniques improve the adaptability and robustness of quadrotors to complex environments. Finally, future research directions for the disturbance rejection of quadrotors are also presented.

Backlash compensation based oscillation suppression control for automatic loading manipulator arm with nonlinear extended state observer

Backlash compensation based oscillation suppression control for automatic loading manipulator arm with nonlinear extended state observer

Output-feedback path-following control of underactuated AUVs via singular perturbation and interconnected-system technique

This paper focuses on the output-feedback control for path-following of underactuated autonomous underwater vehicles subject to multiple uncertainties and unmeasured velocities. First, a novel extended state observer is proposed to estimate the mismatched lumped disturbance and recover the unmeasured velocities. Based on this premise, to overcome the limitation of relying solely on the accurate kinematic model, a disturbance observer-based stabilizing controller is developed. The difference in bandwidths between the observer and the vehicle dynamics allows for a mathematical setup amenable to standard singular perturbation theory. In the fast mode, a kinematic observer is designed to reject system uncertainty caused by unknown attack angular velocity and prohibitive path-tangential angular velocity, using a novel physical perspective. In the slow mode, an interconnected-system control law is proposed by integrating the backstepping technique with the time scale decomposition method. Furthermore, the stability of the overall closed-loop system is established. Finally, simulation results are presented to demonstrate the effectiveness of the proposed method for path-following of underactuated autonomous underwater vehicles in the vertical plane.

Resilient algorithm for distributed resource allocation under false data injection attacks

AbstractFor a first‐order nonlinear multi‐agent system who is subject to false data injection (FDI) attacks on agents' actuators and sensors, agents execute a distributed resource allocation algorithm according to the compromised control inputs and interactive information such that the multi‐agent system is unstable and agents' decisions deviate from the optimal resource allocation. At first, we analyze the robustness of the distributed resource allocation algorithm under the FDI attacks. Then, a resilient distributed algorithm is proposed to solve the distributed resource allocation problem by resisting the adverse effect of the attacks. In detail, the unknown nonlinear term and the false data injected in agents are considered as extended states that can be estimated by extended state observers. The estimation is used in the feedback control to suppress the effect of the FDI attacks. As a result, the designed resilient algorithm ensures that agents' decisions converge to the optimal allocation without requiring any information about the nature of the attacks. An example is given to illustrate the results.

Optimised linear active disturbance rejection control of multiport-isolated DC-DC converter for hydrogen energy storage system integration

Hydrogen energy storage systems are becoming increasingly accepted owing to their environmental friendliness. The efficiency and performance of these systems largely depend on the attributes of their power electronic interface systems. Among the promising solutions is a multiport-isolated DC-DC converter with characteristics of reduced component count, fewer conversion stages, and galvanic isolation. However, this system presents a challenge due to its inherent cross-coupling effect, complicating precise control. To address this, linear active disturbance rejection control (LADRC) is a viable option, leveraging dynamic/disturbance properties observed by linear extended state observers. LADRC serves as a decoupling controller, mitigating the cross-coupling effect. However, LADRC has several gains, and selecting them can be a difficult task, often requiring manual tuning. To streamline this process, this paper proposes utilising particle swarm optimisation to determine the optimum gains of LADRC. By employing this approach, the implementation of LADRC is facilitated with reduced design efforts while ensuring effective decoupling control within the system. Simulations are conducted to validate the performance of the optimised gain LADRC.

Disturbance Observation and Suppression in an Airborne Electro-Optical Stabilized Platform Based on a Generalized High-Order Extended State Observer.

Active disturbance rejection control (ADRC) is widely used in airborne optoelectronic stabilization platforms due to its minimal reliance on the mathematical model of the controlled object. The extended state observer (ESO) is the core of ADRC, which treats internal parameter variations and external disturbances as total disturbances, observes the disturbances as extended states, and then compensates them into the control loop to eliminate their effects. However, the ESO can only achieve a precise estimation of constant or slowly varying disturbances. When the disturbance is periodically changing, satisfactory results cannot be obtained. In this paper, a generalized high-order extended state observer (GHOESO) is proposed to achieve the precise estimation of known frequency sinusoidal disturbance signals and improve disturbance suppression levels. Through numerical simulations, a traditional ESO and GHOESO are compared in terms of disturbance observation capability and disturbance suppression ability for single and compound disturbances based on our prior knowledge of disturbance frequency. The effectiveness of the proposed GHOESO method is verified. Finally, the algorithm is applied to an airborne optoelectronic stabilization platform for a 1°/1 Hz swing experiment on a space hexapod swing table. The experimental results demonstrate the superiority of the GHOESO proposed in this paper.

A class of adaptive predefined‐time extended state observers for high‐order strict‐feedback systems

AbstractFast state estimation for nonlinear systems has been a key issue in control theory and the recently developed predefined‐time stability acts as an effective tool for the problem. However, the studies of predefined‐time state observer for nonlinear systems are rare. In this article, we consider the predefined‐time extended state observer (PTESO) design for a class of high‐order strict‐feedback systems subject to Hölder continuous nonlinearities and lumped disturbance. By developing an adaptive mechanism and using time‐varying functions, a class of adaptive PTESOs is designed to estimate the unavailable states and the lumped disturbance, in which the convergence time can be tightly and explicitly preset by only one parameter, irrelevant to the initial conditions. The adaptive mechanism is used to improve the transient performance under wide‐range lumped disturbance. Moreover, thanks to the design of the time‐varying gains, the PTESO could realize fast observation with trivial peaking observation errors. Finally, simulation results are provided to illustrate the effectiveness of the proposed observer.

Observer-Based Fault-Tolerant Control for Uncertain Robot Manipulators without Velocity Measurements

In recent years, robot manipulator arms have become increasingly prevalent and are playing pivotal roles across various industries. Their ability to replace human labor in arduous and hazardous tasks has positioned them as indispensable assets. Consequently, there has been a surge in research efforts aimed at enhancing their operational performance. The imperative to improve their efficiency and effectiveness has garnered significant attention within the research community. In this study, a novel fault-tolerant control (FTC) scheme for robot manipulators to handle the effects of the unknown input is proposed to aid robots in achieving good tracking performance. In the first step, an extended state observer (ESO) is constructed to approximate both velocities and the unknown input in the robot system. The observer offers estimation information with good accuracy and quick convergence. The estimated signals are then combined with computed torque control (CTC), which is a useful control technique for trajectory tracking of robot manipulator systems, to construct an active FTC to decrease the influences of the unknown input. The proposed algorithm does not require velocity measurement in the design process. In addition, with a novel design approach, the combination of controller and observer provides a novel control signal that delivers higher tracking performance compared to the traditional design approach. The global and asymptotic stability of the suggested technique is proved through the Lyapunov theory. Finally, simulations are implemented on a 2-degree-of-freedom (DOF) robot manipulator to validate the efficiency of the proposed controller–observer method.

Active Damping for LC-Filtered PMSM Based on Low-Pass Filter Capacitor Current Feedback and Extended State Observer

Active Damping for <i>LC</i>-Filtered PMSM Based on Low-Pass Filter Capacitor Current Feedback and Extended State Observer

Fault-tolerant control against actuator faults based on extended state observer for quadrotor UAV

Abstract A model predictive control (MPC) strategy is devised to handle the issue of multi-actuators partial failure faults of quadrotor vehicles. Firstly, considering a quadrotor system with actuator partial failure faults and unknown disturbances, the quadrotor dynamics model is analyzed and established. Then, the MPC attitude fault-tolerant controller is devised to transform the issue of controlling the attitude angle of a quadrotor into a quadratic programming solution problem, and the extended state observer (ESO) is devised to evaluate the faults and perturbations, which highly and greatly improves the system’s suppression capability against disturbances. Finally, numerical simulation experiments demonstrate the scheme’s fault-tolerance to actuator faults and its ability to suppress unknown perturbations, while the results of semi-physical simulation experiments also prove that the method is effective and feasible.

Adaptive differential steering strategy for distributed driving unmanned ground vehicle with variable configurations based on modified localized modelling sliding mode control

When performing complex tasks such as position transfer and material transportation, the distributed driving unmanned platform with variable configurations needs to address the challenge of multi-wheel cooperative torque distribution control to achieve high-performance differential steering and enhance vehicle dynamics. The configuration change will impact the dynamic performance of the unmanned platform, posing a challenge to the performance of the existing control strategy based on mathematical model development. In order to address the aforementioned issues, this paper analyzes the impact of changes in vehicle configuration on steering gain and proposes a hierarchical adaptive differential steering strategy based on variable vehicle configurations. Firstly, the response characteristics of the yaw angle relative to the active yaw moment under the influence of changes in wheelbase and tread are analyzed. Based on this analysis, two structural modes, maneuverable and balanced, are selected. Secondly, a localized-modelling sliding mode control method with an extended state observer is proposed to estimate the desired yaw moment in the upper controller, considering the motor's execution delay. Then, the lower controller optimizes the torque of each wheel in real-time using the whale optimization algorithm. It aims to optimize tire energy dissipation and tire load rate while ensuring driving stability and achieving differential steering. Finally, through co-simulation and experiments on a scaled prototype, the reliability of the dynamics theory and the superiority of the control algorithm are validated. This optimization has led to significant improvements in the tire dissipation energy index and tire load rate index.

PMSM Speed Active Disturbance Rejection Control Based on Modified Extended State Observer

In order to address the issues of significant input variations and complex disturbances in speed control of permanent magnet synchronous motors (PMSM), a Modified Active Disturbance Rejection Controller (ADRC) based on an improved Modified Extended State Observer (ESO) is proposed in this paper. In this new method, a nonlinear cascaded structure of observers is adopted. By utilizing the TD filter, high‐frequency noise can be attenuated while preserving the dynamic characteristics of the signal. Moreover, system oscillations caused by minor errors are effectively suppressed. The introduction of propeller and wave models enhances the realism of simulated marine environmental disturbances. Research results indicate that, compared to a single Extended State Observer, the cascaded MESO exhibits better disturbance rejection and noise resistance in complex marine environments, and the proposed MADRC outperforms both PI controllers and ADRC in dealing with marine environmental disturbances. © 2024 Institute of Electrical Engineers of Japan and Wiley Periodicals LLC.