Secure Control of Networked Inverted Pendulum Visual Servo Systems Based on Active Disturbance Rejection Control
This paper investigates secure control of Networked Inverted Pendulum Visual Servo Systems (NIPVSSs) based on Active Disturbance Rejection Control (ADRC). Firstly, considering the network- and image-induced delays in conjuction with computational errors caused by image processing and image attacks,...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-11-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/11/12/355 |
| _version_ | 1827642383116795904 |
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| author | Dakui Wu Qianjiang Lu |
| author_facet | Dakui Wu Qianjiang Lu |
| author_sort | Dakui Wu |
| collection | DOAJ |
| description | This paper investigates secure control of Networked Inverted Pendulum Visual Servo Systems (NIPVSSs) based on Active Disturbance Rejection Control (ADRC). Firstly, considering the network- and image-induced delays in conjuction with computational errors caused by image processing and image attacks, the model of NIPVSSs is established. Secondly, the limitations of the traditional Single-Input-Single-Output (SISO) ADRC used in NIPVSSs with disturbance are revealed. The limitations are that the ESO used in the traditional SISO ADRC brings large steady-state error, and the NLSEF used in the traditional SISO ADRC can achieve stable control of pendulum angle, but cannot achieve stable control of cart position. Thirdly, a new Single-Input-Multi-Output (SIMO) ADRC method is proposed for NIPVSSs with disturbance. In the new SIMO ADRC method, the new ESO is designed by introducing additional first and second derivatives of error to reduce the steady-state error. In addition, the new NLSEF is developed by taking both the calculated cart position and pendulum angle as inputs to achieve dual stable control of pendulum angle and cart position. Finally, combined with the designed ADRC parameter-tuning strategy, the results from simulation and real-world experiments confirm the effectiveness and feasibility of the proposed method. |
| first_indexed | 2024-03-09T17:27:37Z |
| format | Article |
| id | doaj.art-1c182342ad3a4238bfb7e40f3931bdaa |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-09T17:27:37Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-1c182342ad3a4238bfb7e40f3931bdaa2023-11-24T12:35:06ZengMDPI AGActuators2076-08252022-11-01111235510.3390/act11120355Secure Control of Networked Inverted Pendulum Visual Servo Systems Based on Active Disturbance Rejection ControlDakui Wu0Qianjiang Lu1Shanghai Key Laboratory of Power Station Automation Technology, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, ChinaShanghai Key Laboratory of Power Station Automation Technology, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, ChinaThis paper investigates secure control of Networked Inverted Pendulum Visual Servo Systems (NIPVSSs) based on Active Disturbance Rejection Control (ADRC). Firstly, considering the network- and image-induced delays in conjuction with computational errors caused by image processing and image attacks, the model of NIPVSSs is established. Secondly, the limitations of the traditional Single-Input-Single-Output (SISO) ADRC used in NIPVSSs with disturbance are revealed. The limitations are that the ESO used in the traditional SISO ADRC brings large steady-state error, and the NLSEF used in the traditional SISO ADRC can achieve stable control of pendulum angle, but cannot achieve stable control of cart position. Thirdly, a new Single-Input-Multi-Output (SIMO) ADRC method is proposed for NIPVSSs with disturbance. In the new SIMO ADRC method, the new ESO is designed by introducing additional first and second derivatives of error to reduce the steady-state error. In addition, the new NLSEF is developed by taking both the calculated cart position and pendulum angle as inputs to achieve dual stable control of pendulum angle and cart position. Finally, combined with the designed ADRC parameter-tuning strategy, the results from simulation and real-world experiments confirm the effectiveness and feasibility of the proposed method.https://www.mdpi.com/2076-0825/11/12/355networked inverted pendulum visual servo systems (NIPVSSs)image attacksdisturbanceactive disturbance rejection control (ADRC) |
| spellingShingle | Dakui Wu Qianjiang Lu Secure Control of Networked Inverted Pendulum Visual Servo Systems Based on Active Disturbance Rejection Control Actuators networked inverted pendulum visual servo systems (NIPVSSs) image attacks disturbance active disturbance rejection control (ADRC) |
| title | Secure Control of Networked Inverted Pendulum Visual Servo Systems Based on Active Disturbance Rejection Control |
| title_full | Secure Control of Networked Inverted Pendulum Visual Servo Systems Based on Active Disturbance Rejection Control |
| title_fullStr | Secure Control of Networked Inverted Pendulum Visual Servo Systems Based on Active Disturbance Rejection Control |
| title_full_unstemmed | Secure Control of Networked Inverted Pendulum Visual Servo Systems Based on Active Disturbance Rejection Control |
| title_short | Secure Control of Networked Inverted Pendulum Visual Servo Systems Based on Active Disturbance Rejection Control |
| title_sort | secure control of networked inverted pendulum visual servo systems based on active disturbance rejection control |
| topic | networked inverted pendulum visual servo systems (NIPVSSs) image attacks disturbance active disturbance rejection control (ADRC) |
| url | https://www.mdpi.com/2076-0825/11/12/355 |
| work_keys_str_mv | AT dakuiwu securecontrolofnetworkedinvertedpendulumvisualservosystemsbasedonactivedisturbancerejectioncontrol AT qianjianglu securecontrolofnetworkedinvertedpendulumvisualservosystemsbasedonactivedisturbancerejectioncontrol |