By Yuanqing Xia
“Compound regulate method for Flight automobiles” makes a speciality of new keep an eye on equipment for flight autos. during this monograph, the concept that of compound keep watch over is brought. it's verified that either Sliding Mode keep an eye on (SMC) and lively Disturbance Rejection regulate (ADRC) have their very own merits and obstacles, i.e., chattering of SMC and the observability of prolonged country observer (ESO), respectively. it's proven that compound keep an eye on combines their merits and improves the functionality of the closed-loop platforms. The booklet is self-contained, delivering adequate mathematical foundations for figuring out the contents of every bankruptcy. it is going to be of important curiosity to scientists and engineers engaged within the box of flight motor vehicle control.
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With more practical application in control ﬁeld, ADRC is proved to be a capable replacement of PID with high precision and high disturbance rejection ability in performance and practicality, which provides a new way to solve engineering problems today. Y. Xia and M. Fu: Compound Control Methodology for Flight Vehicles, LNCIS 438, pp. 21–48. 1007/978-3-642-36841-7_2 22 2 Overview of ADRC ADRC, was ﬁrstly proposed by Han in [99, 100, 102], expatiated carefully by Han in , analyzed in depth by Gao and Huang in , .
Simulation results show that 34 2 Overview of ADRC this algorithm can keep the robot a smooth and prcised lateral control and eﬀectively overcome the disturbance. Lateral control plays a very important role in the navigation procedure of mobile robots. To achieve precise navigation, lateral control should have good adaptability to the varieties of system parameters and diﬀerent kinds of disturbances. In , in order to achieve precise navigation, mobile robot (MR) lateral controller should adapt well to uncertainties, such as longitudinal velocity varieties, disturbances, etc.
ADRC has the same advantage of fast response and strong robustness as traditional PID control theory, and it gives a new control theory and control method, which is widely applied for its excellent system performances. 2 ADRC Strategy 23 The ADRC consists of three parts, a nonlinear TD, which is used to arrange the ideal transient process of the system, ESO, which could estimate all the disturbances from the system output, and then the ADRC compensates the disturbance according to estimated values, a nonlinear state error feedback (NLSEF), which is used to get the control input of the system.
Compound Control Methodology for Flight Vehicles by Yuanqing Xia