Article
Automation & Control Systems
Hongjiu Yang, Lei Cheng, Jinhui Zhang, Yuanqing Xia
Summary: This paper investigates trajectory tracking controller and position controller for leader-follower trajectory control of quadrotors. A tracking differentiator is designed to generate speed signals, and a nonlinear disturbance observer is used based on state errors. A saturation law with anti-trigonometric functions is adopted in the position controller. Experiment results demonstrate the applicability of the proposed method for quadrotors.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Automation & Control Systems
Yiwen Qi, Simeng Zhang, Choon Ki Ahn
Summary: This study investigates the active disturbance rejection control (ADRC) for networked switched systems (NSSs) with decentralized event-triggered communication, considering uncertainty and disturbance. It proposes a comprehensive analysis and synthesis method for the ADRC of NSSs, with the contributions of a novel parameter-dependent switching constraint and triggering the output of LESO instead of its input. Stability analysis and state convergence region calculations are also given, and simulation demonstrates the effectiveness of the proposed method.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2023)
Article
Computer Science, Artificial Intelligence
Xilian Zhang, Tao Xu, Zhao Zhang, Zhisheng Duan
Summary: This paper proposes a parallel extended state observer (PESO) by merging different order linear tracking differentiators and first-order nonlinear differentiators, considering both measurement noises and system uncertainties. The parallel structure ensures the independence of observed information, effectively avoiding the accumulation of observation error. PESO is utilized to estimate the total disturbance, and a composite controller is developed based on its observation results. The convergence performance of PESO and the controller is rigorously verified, and numerical simulation results demonstrate the effectiveness and superiority of the proposed method.
Article
Automation & Control Systems
Jinhui Zhang, Congfeng Cui, Shaomeng Gu, Tao Wang, Ling Zhao
Summary: In this article, a novel error-driven variable gain active disturbance rejection control (ADRC) approach is developed for pneumatic servo system, which can guarantee the desired performance and disturbance rejection. The proposed method includes three parts and can dynamically adjust the gain according to the tracking error and estimation error to improve control accuracy.
IEEE TRANSACTIONS ON CYBERNETICS
(2023)
Article
Engineering, Civil
Luyao Zhang, Shengquan Li, Chaowei Zhu, Juan Li
Summary: This paper proposes a disturbance rejection method with extended state observer (ESO) and a tracking differentiator (TD) to realize vibration suppression of all-clamped plate structure in the presence of lumped disturbance. The method estimates and compensates for disturbances and eliminates the influence of measurement noises, demonstrating good vibration suppression performance.
INTERNATIONAL JOURNAL OF STRUCTURAL STABILITY AND DYNAMICS
(2022)
Article
Automation & Control Systems
Yang Yang, Yuefei Wu, Fengbo Yang
Summary: This article proposes a desired compensation version of the output feedback controller (DOFCESO) without velocity measurement signal, for precise tracking control of the three-axis electrical-optical gyro-stabilized platform. The controller takes into account system parametric deviations, unmeasurable signals, and external disturbances. It utilizes a composite extended state observer and nonlinear disturbance observer, along with adaptive nonlinear feedback tracking control design. The controller guarantees final tracking accuracy and overcomes practical performance limitations. Extensive comparative experimental results validate the high-performance nature of the proposed control strategy.
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
(2022)
Article
Mathematics
Chen Cheng, Zian Wang, Chengxi Zhang, Yang Yang
Summary: This article proposes an asymmetric tracking differentiator and a fal-extended state observer based on the fal function, which effectively improve the accuracy and anti-jamming capability of the attitude estimation algorithm in automatic carrier landing missions.
Article
Remote Sensing
Wenxing Zhu, Lihui Wang, Yuan Ren, Yong Li
Summary: This paper considers the quadrotor attitude and position control problem in the presence of lumped disturbances and model uncertainty. The improved active disturbance rejection controller is proposed to compensate for the disturbances. The improved sigmoid tracking differentiator and variable gain finite-time extended state observer are employed to estimate and reduce the disturbances effectively. The super-twisting sliding model controller is utilized for tracking control of the desired position and attitude.
Article
Automation & Control Systems
Hung Nguyen, Kanat Suleimenov, Bao-Huy Nguyen, Thanh Vo-Duy, Minh C. Ta, Ton Duc Do
Summary: This article proposes a study on the unification of disturbance observer based control (DOBC) and active disturbance rejection control (ADRC) for the application of speed control of permanent magnet synchronous motor. The unification of DOBC and ADRC is verified by addressing the dynamical delay formulas of the observations. Simulation and experimental validations demonstrate the identical performance of these two methods in rejecting both external disturbance and model uncertainty.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Computer Science, Information Systems
Radoslaw Patelski, Dariusz Pazderski
Summary: This paper investigates the influence of input-gain uncertainty on the tracking performance of a control structure designed based on the ADRC paradigm, using a second-order plant as an example. The results demonstrate that selecting an input-gain parameter different from the real plant can significantly improve control precision if the controller is designed in an error domain. The study also found that the closed-loop system remains stable and tracking errors decrease when the input gain value is derived from multiplying the plant gain input by a positive factor smaller than a certain threshold value.
Article
Automation & Control Systems
Youwu Du, Weihua Cao, Jinhua She
Summary: This article presents a new method that uses the active disturbance rejection control (ADRC) paradigm to address the control problem for a specific type of non-linear systems with unknown disturbances and measurement noise. An improved extended state observer (ESO) is introduced to separate disturbance estimation from state reconstruction, with a new parameter for independent adjustment of disturbance-rejection performance. The method is validated through simulation and experimental results, demonstrating its superiority in disturbance rejection and noise suppression compared to traditional methods.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Engineering, Ocean
Jiaqi Zheng, Lei Song, Lingya Liu, Wenbin Yu, Yiyin Wang, Cailian Chen
Summary: In this paper, a fixed-time sliding mode controller (FSMC) with disturbance observer (DO) is proposed for trajectory tracking control of autonomous underwater vehicles (AUVs under time-varying external disturbances. The FSMC-DO offers faster convergence rate, higher tracking accuracy, and robustness compared to conventional FSMC and finite time controllers, as demonstrated by simulation results.
APPLIED OCEAN RESEARCH
(2021)
Article
Thermodynamics
Xin Fang, Jinsheng Zhang, Heng Zhang, Wenhao Zhang
Summary: In this paper, a dynamic model is established to study the luffing control of the flexible boom of a mobile elevated work platform (MEWP) in relation to the input electric signal of the hydraulic valve and the boom luffing angle. The control input gain for the luffing motion of the MEWP is difficult to solve and varies with different factors. An active disturbance rejection controller without control input gain is proposed, which includes all relevant quantities as disturbance to be observed. This controller only requires adjustment of two parameters based on bandwidth-based parameter settings. The proposed controllers are compared with a fixed input gain active disturbance rejection controller and a PID controller in terms of various performance criteria.
ADVANCES IN MECHANICAL ENGINEERING
(2023)
Article
Automation & Control Systems
Jie Ma, Hao Tao, Jingwen Huang
Summary: An observer integrated backstepping control is designed for a ball and plate system with cascade and model uncertainties. The uncertainties of the model and derivatives of the virtual controls are estimated by a linear extended state observer and a tracking differentiator, respectively. The stability of the closed-loop system is proven based on the cascaded model and Lyapunov theory.
INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL
(2021)
Article
Automation & Control Systems
Sumit Aole, Irraivan Elamvazuthi, Laxman Waghmare, Balasaheb Patre, Fabrice Meriaudeau
Summary: Non-linear active disturbance rejection control is applied for sinusoidal trajectory tracking in upper limb rehabilitation exoskeleton, showing robustness against disturbances and better tracking performance compared to PID and conventional active disturbance rejection control methods.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
(2021)
Article
Automation & Control Systems
Satyanarayan Sadala, Balasaheb Patre, Divyesh Ginoya
Summary: This paper introduces a new continuous integral sliding mode control algorithm to reduce chattering and improve the stability and robustness of the control system.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
(2022)
Article
Chemistry, Multidisciplinary
Sumit Aole, Irraivan Elamvazuthi, Laxman Waghmare, Balasaheb Patre, Tushar Bhaskarwar, Fabrice Meriaudeau, Steven Su
Summary: In this paper, a combined control strategy with extended state observer (ESO) and finite time stable tracking differentiator (FTSTD) is proposed to perform flexion and extension motion in the sagittal plane for shoulder and elbow joints. The proposed controller improves tracking accuracy, performs state estimation, and actively rejects disturbance.
APPLIED SCIENCES-BASEL
(2022)
Review
Computer Science, Software Engineering
Nivesh Gadipudi, Irraivan Elamvazuthi, Lila Iznita Izhar, Lokender Tiwari, Ramya Hebbalaguppe, Cheng-Kai Lu, Arockia Selvakumar Arockia Doss
Summary: This paper provides an extensive review of the developments in visual odometry and visual simultaneous localization and mapping. It discusses the evolution of monocular tracking and mapping algorithms, as well as the recent advancements in filtering, bundle adjustment, and deep learning methods. It also presents popular benchmarks for algorithm development and evaluation, along with a comparative study on different classes of algorithms.
Article
Chemistry, Multidisciplinary
Karna Vishnu Vardhana Reddy, Irraivan Elamvazuthi, Azrina Abd Aziz, Sivajothi Paramasivam, Hui Na Chua, Satyamurthy Pranavanand
Summary: Medical science has found that coronary heart disease is the leading cause of health loss and death worldwide. Data mining and machine learning techniques have been used to detect diseases based on individual characteristics, but they often face challenges due to complex datasets and lack of performance accuracy. This research focuses on feature extraction and selection, as well as hyperparameter optimization to improve model accuracy. The experimental results show that this approach outperforms related works and achieves an accuracy of 97.91% and an AUC of 0.996 by selecting six optimal principal components and optimizing parameters of the Rotation Forest ensemble classifier.
APPLIED SCIENCES-BASEL
(2023)
Article
Nuclear Science & Technology
S. S. Nerkar, B. M. Patre, Ranvir Desai, P. S. Londhe
Summary: This paper presents a control strategy based on an uncertainty and disturbance estimator for power distribution control in the advanced heavy-water reactor (AHWR). Through detailed simulation on a 72nd-order multi-input nonlinear model, it is shown that the designed controller performs better in counteracting disturbances compared to optimal integral sliding mode control (ISMC). The stability of the overall system is proven.
NUCLEAR ENGINEERING AND DESIGN
(2023)
Article
Chemistry, Analytical
Firdaus Aslam, Kamal Jamil, Ohnmar Htwe, Brenda Saria Yuliawiratman, Elango Natarajan, Irraivan Elamvazuthi, Amaramalar Selvi Naicker
Summary: This study compared gait changes, radiological outcomes, and functional outcomes in children who underwent DDH surgery with healthy controls. Results showed that there were no differences in spatial parameters between the two groups, but the DDH group had a longer swing phase and a shorter stance phase. They also had smaller hip adduction angle, increased internal rotation, and reduced upward pelvic tilt. Some children had poor radiological outcomes and gait abnormalities despite good functional scores. Specific rehabilitative strategies are recommended for long-term management.
Article
Green & Sustainable Science & Technology
Upasana Lakhina, Irraivan Elamvazuthi, Nasreen Badruddin, Ajay Jangra, Bao-Huy Truong, Joseph M. Guerrero
Summary: This paper proposes a cost-effective multi-verse optimizer algorithm (CMVO) to efficiently manage renewable energy sources in microgrids. The results show that CMVO outperforms other meta-heuristic algorithms in terms of cost reduction and execution time improvement.
Article
Mathematics
Upasana Lakhina, Nasreen Badruddin, Irraivan Elamvazuthi, Ajay Jangra, Truong Hoang Bao Huy, Josep M. M. Guerrero
Summary: This paper proposes an enhanced multi-objective multi-verse optimizer algorithm (MOMVO) for stochastic generation power optimization in a renewable energy-based islanded microgrid framework. The algorithm schedules power among different generation sources to minimize generation costs and power losses in the microgrid. Simulation results demonstrate that MOMVO outperforms other metaheuristic algorithms for multi-objective optimization.
Article
Computer Science, Artificial Intelligence
Timothy Ganesan, Irraivan Elamvazuthi
Summary: Practical entanglement distillation plays a critical role in quantum information theory, it is often used for designing quantum computer networks and quantum repeaters. In this study, the entanglement distillation problem is formulated as a bilevel optimization problem and a fuzzy formulation is introduced to estimate the quantum state. A scale-independent relationship between fuzzy relations is obtained based on pseudo-likelihood functions. The problem is solved using a combined approach and compared with a standard algorithmic implementation.
Review
Engineering, Electrical & Electronic
Alberto Borboni, Karna Vishnu Vardhana Reddy, Irraivan Elamvazuthi, Maged S. AL-Quraishi, Elango Natarajan, Syed Saad Azhar Ali
Summary: A collaborative robot, or cobot, enables direct communication and eliminates barriers between industrial robots and humans. Cobots are used in various applications, including communication robots, logistic robots, and industrial robots for automating tasks. Advanced technology and machine learning have made cobots more accessible and efficient.
Proceedings Paper
Automation & Control Systems
H. R. Mane, R. J. Desai, B. M. Patre, T. U. Bhatt, S. R. Shimjith, A. P. Tiwari
Summary: This paper presents the design of an Inertial Delay Observer (IDO) for estimating neutron flux distribution and bounded reactivity input disturbances of a nuclear reactor, and verifies its efficacy through simulation studies.
2022 EIGHTH INDIAN CONTROL CONFERENCE, ICC
(2022)
Article
Engineering, Electrical & Electronic
Alberto Borboni, Irraivan Elamvazuthi, Nicoletta Cusano
Summary: An empathic collaborative robot (cobot) was developed to transmit fear from a human agent to the robot agent, creating a social circle of empathy and safety. Through an electroencephalographic (EEG) sensor worn by the human agent, the empathic safe brain-computer interface (BCI) was realized. The experiments showed that the peak EEG signal increased in the presence of uncomfortable movements of the cobot, confirming the results obtained from the subjects' questionnaires.
Article
Computer Science, Information Systems
Roop Singh, Lila Iznita Izhar, Irraivan Elamvazuthi, Alaknanda Ashok, Sumit Aole, Naveen Sharma
Summary: In this paper, an efficient watermarking method based on the selection of highest entropy blocks is introduced to overcome the false-positive problem. The proposed method outperforms existing methods in defending against various attacks on standard image datasets.
Article
Computer Science, Information Systems
Truong Hoang Bao Huy, Tri Phuoc Nguyen, Nursyarizal Mohd Nor, Irraivan Elamvazuthi, Taib Ibrahim, Dieu Ngoc Vo
Summary: This study proposes a Multi-Objective Search Group Algorithm to address the optimal power flow problem integrated with stochastic wind and solar powers, and the effectiveness of this algorithm is validated through experiments.
Article
Automation & Control Systems
S. S. Nerkar, P. S. Londhe, B. M. Patre
Summary: This paper presents a control scheme for trajectory tracking of AUVs using a super twisting algorithm as a disturbance observer based sliding mode controller (STA-SMC). The effectiveness of the proposed scheme is verified by comparing it with uncertainty and disturbance estimator (UDE) and disturbance observer (DO) based sliding mode control strategies. Extensive numerical simulations demonstrate the robustness of the proposed scheme, which is capable of compensating for uncertainties in the hydrodynamic parameters of the vehicle and rejecting unpredictable disturbances due to underwater ocean currents.
INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL
(2022)
