Modified ADRC for inertial stabilized platform with corrected disturbance compensation and improved speed observer

Junhai Qu; Yuanqing Xia; Yongping Shi; Jingjing Cao; Haiwen Wang; Yunxia Meng

doi:10.1109/ACCESS.2020.3020143

Modified ADRC for inertial stabilized platform with corrected disturbance compensation and improved speed observer

Junhai Qu^*, Yuanqing Xia, Yongping Shi, Jingjing Cao, Haiwen Wang, Yunxia Meng

^*Corresponding author for this work

School of Automation

Research output: Contribution to journal › Article › peer-review

11 Citations (Scopus)

Abstract

In this article, a modified scheme of nonlinear active disturbance rejection control (ADRC) is proposed by correcting the disturbance compensation and improving the speed observer. The stability, disturbance rejection and tracking performance of the modified ADRC scheme are analyzed and compared with that of the typical ADRC scheme utilizing the describing function method and numerical method, which shows that the dynamic stiffness and tracking performance are significantly improved while the stability almost remains invariant. Both the simulations and experiments are conducted in inertial stabilized platform (ISP) control system. It turns out that the simulation and experimental results further support the analysis.

Original language	English
Pages (from-to)	157703-157716
Number of pages	14
Journal	IEEE Access
Volume	8
DOIs	https://doi.org/10.1109/ACCESS.2020.3020143
Publication status	Published - 2020

Keywords

Active disturbance rejection control (ADRC)
Describing function method
Inertial stabilized platform (ISP)
Speed observer

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10.1109/ACCESS.2020.3020143

Cite this

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title = "Modified ADRC for inertial stabilized platform with corrected disturbance compensation and improved speed observer",

abstract = "In this article, a modified scheme of nonlinear active disturbance rejection control (ADRC) is proposed by correcting the disturbance compensation and improving the speed observer. The stability, disturbance rejection and tracking performance of the modified ADRC scheme are analyzed and compared with that of the typical ADRC scheme utilizing the describing function method and numerical method, which shows that the dynamic stiffness and tracking performance are significantly improved while the stability almost remains invariant. Both the simulations and experiments are conducted in inertial stabilized platform (ISP) control system. It turns out that the simulation and experimental results further support the analysis.",

keywords = "Active disturbance rejection control (ADRC), Describing function method, Inertial stabilized platform (ISP), Speed observer",

author = "Junhai Qu and Yuanqing Xia and Yongping Shi and Jingjing Cao and Haiwen Wang and Yunxia Meng",

year = "2020",

doi = "10.1109/ACCESS.2020.3020143",

language = "English",

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T1 - Modified ADRC for inertial stabilized platform with corrected disturbance compensation and improved speed observer

AU - Qu, Junhai

AU - Xia, Yuanqing

AU - Shi, Yongping

AU - Cao, Jingjing

AU - Wang, Haiwen

AU - Meng, Yunxia

PY - 2020

Y1 - 2020

N2 - In this article, a modified scheme of nonlinear active disturbance rejection control (ADRC) is proposed by correcting the disturbance compensation and improving the speed observer. The stability, disturbance rejection and tracking performance of the modified ADRC scheme are analyzed and compared with that of the typical ADRC scheme utilizing the describing function method and numerical method, which shows that the dynamic stiffness and tracking performance are significantly improved while the stability almost remains invariant. Both the simulations and experiments are conducted in inertial stabilized platform (ISP) control system. It turns out that the simulation and experimental results further support the analysis.

AB - In this article, a modified scheme of nonlinear active disturbance rejection control (ADRC) is proposed by correcting the disturbance compensation and improving the speed observer. The stability, disturbance rejection and tracking performance of the modified ADRC scheme are analyzed and compared with that of the typical ADRC scheme utilizing the describing function method and numerical method, which shows that the dynamic stiffness and tracking performance are significantly improved while the stability almost remains invariant. Both the simulations and experiments are conducted in inertial stabilized platform (ISP) control system. It turns out that the simulation and experimental results further support the analysis.

KW - Active disturbance rejection control (ADRC)

KW - Describing function method

KW - Inertial stabilized platform (ISP)

KW - Speed observer

UR - https://www.scopus.com/pages/publications/85102890673

U2 - 10.1109/ACCESS.2020.3020143

DO - 10.1109/ACCESS.2020.3020143

M3 - Article

AN - SCOPUS:85102890673

SN - 2169-3536

VL - 8

SP - 157703

EP - 157716

JO - IEEE Access

JF - IEEE Access

ER -

Modified ADRC for inertial stabilized platform with corrected disturbance compensation and improved speed observer

Abstract

Keywords

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