Multi-Channel Phase-Compensated Active Disturbance Rejection Control with an Improved Backstepping Strategy for Electro-Optical Tracking Systems
A multi-channel phase-compensated active disturbance rejection control (MPADRC) incorporating an improved backstepping strategy is proposed in this paper to handle the phase lag in the extended state observer (ESO) and the residual uncertainty in the system. Firstly, a multi-channel phase-compensate...
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MDPI AG
2024-03-01
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| 丛编: | Actuators |
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| 在线阅读: | https://www.mdpi.com/2076-0825/13/3/117 |
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| author | Shanlin Zhuang Jiachen Li Haolin Wang Jiuqiang Deng Yao Mao |
| author_facet | Shanlin Zhuang Jiachen Li Haolin Wang Jiuqiang Deng Yao Mao |
| author_sort | Shanlin Zhuang |
| collection | DOAJ |
| description | A multi-channel phase-compensated active disturbance rejection control (MPADRC) incorporating an improved backstepping strategy is proposed in this paper to handle the phase lag in the extended state observer (ESO) and the residual uncertainty in the system. Firstly, a multi-channel phase-compensated ESO (MPESO) is constructed by adding phase-advanced networks to all output channels of the ESO, which allows disturbances and system states to be compensated and feedback in a more timely manner, respectively. Then, to estimate and offset the residual uncertainty in the system, an improved backstepping control method is employed and a Lyapunov function is designed to verify the convergence of the error between the estimated and actual values of the residual uncertainty. After that, the improved backstepping control is combined with MPADRC, and comparisons with the conventional linear active disturbance rejection control (LADRC) are conducted for a range of cases. Finally, on an inertial stabilization platform in the electro-optical tracking system (ETS), simulation and experimental results verified the effectiveness of the proposed method. |
| first_indexed | 2024-04-24T18:39:52Z |
| format | Article |
| id | doaj.art-6918c65246f445b4b1f59e9e97bd8eeb |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-04-24T18:39:52Z |
| publishDate | 2024-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-6918c65246f445b4b1f59e9e97bd8eeb2024-03-27T13:15:28ZengMDPI AGActuators2076-08252024-03-0113311710.3390/act13030117Multi-Channel Phase-Compensated Active Disturbance Rejection Control with an Improved Backstepping Strategy for Electro-Optical Tracking SystemsShanlin Zhuang0Jiachen Li1Haolin Wang2Jiuqiang Deng3Yao Mao4National Key Laboratory of Optical Field Manipulation Science and Technology, Chinese Academy of Sciences, Chengdu 610209, ChinaNational Key Laboratory of Optical Field Manipulation Science and Technology, Chinese Academy of Sciences, Chengdu 610209, ChinaNational Key Laboratory of Optical Field Manipulation Science and Technology, Chinese Academy of Sciences, Chengdu 610209, ChinaNational Key Laboratory of Optical Field Manipulation Science and Technology, Chinese Academy of Sciences, Chengdu 610209, ChinaNational Key Laboratory of Optical Field Manipulation Science and Technology, Chinese Academy of Sciences, Chengdu 610209, ChinaA multi-channel phase-compensated active disturbance rejection control (MPADRC) incorporating an improved backstepping strategy is proposed in this paper to handle the phase lag in the extended state observer (ESO) and the residual uncertainty in the system. Firstly, a multi-channel phase-compensated ESO (MPESO) is constructed by adding phase-advanced networks to all output channels of the ESO, which allows disturbances and system states to be compensated and feedback in a more timely manner, respectively. Then, to estimate and offset the residual uncertainty in the system, an improved backstepping control method is employed and a Lyapunov function is designed to verify the convergence of the error between the estimated and actual values of the residual uncertainty. After that, the improved backstepping control is combined with MPADRC, and comparisons with the conventional linear active disturbance rejection control (LADRC) are conducted for a range of cases. Finally, on an inertial stabilization platform in the electro-optical tracking system (ETS), simulation and experimental results verified the effectiveness of the proposed method.https://www.mdpi.com/2076-0825/13/3/117active disturbance rejection controlextended state observerelectro-optical tracking systemphase advanced networkbackstepping control |
| spellingShingle | Shanlin Zhuang Jiachen Li Haolin Wang Jiuqiang Deng Yao Mao Multi-Channel Phase-Compensated Active Disturbance Rejection Control with an Improved Backstepping Strategy for Electro-Optical Tracking Systems Actuators active disturbance rejection control extended state observer electro-optical tracking system phase advanced network backstepping control |
| title | Multi-Channel Phase-Compensated Active Disturbance Rejection Control with an Improved Backstepping Strategy for Electro-Optical Tracking Systems |
| title_full | Multi-Channel Phase-Compensated Active Disturbance Rejection Control with an Improved Backstepping Strategy for Electro-Optical Tracking Systems |
| title_fullStr | Multi-Channel Phase-Compensated Active Disturbance Rejection Control with an Improved Backstepping Strategy for Electro-Optical Tracking Systems |
| title_full_unstemmed | Multi-Channel Phase-Compensated Active Disturbance Rejection Control with an Improved Backstepping Strategy for Electro-Optical Tracking Systems |
| title_short | Multi-Channel Phase-Compensated Active Disturbance Rejection Control with an Improved Backstepping Strategy for Electro-Optical Tracking Systems |
| title_sort | multi channel phase compensated active disturbance rejection control with an improved backstepping strategy for electro optical tracking systems |
| topic | active disturbance rejection control extended state observer electro-optical tracking system phase advanced network backstepping control |
| url | https://www.mdpi.com/2076-0825/13/3/117 |
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