Performance Comparison of Different Observers for Pendubot

Amjad J. Humaidi, Abdullah A. Mohammed

Abstract


The aim of the work is to study the robust characteristics and performance of four different observers when used to estimate the states of underactuated mechanical system (Pendubot). This work include four observation techniques for state estimation which are Extended State Observer (ESO), nonlinear extended state observer (NESO), Linear Extended State Observer (LESO) and High gain observer (HGO). The Extended State Observer is a model independent observer which includes (NESO, LESO and ESO); it is used for state disturbance observation beside state observation and it has been applied to many practical applications. HGO has a special design of the observer gain that makes it robust to the uncertainties of the nonlinear functions. The effectiveness of each observer is evaluated in terms of its tracking speed and the variance of estimation error which is produced when the system is subjected to noise, disturbance and uncertainties. The observers performances are compared based on simulations using MATLAB package. The simulation results showed that NESO outperforms the other observers where it could give better robust characteristics under noise and uncertainty.


Keywords


Pendubot; ESO; NESO; LESO; HGO.

Full Text:

PDF

References


. W. Wang, “A Comparative Study of Nonlinear Observers and Control Design Strategies”, Ph.D. dissertation, Dept. Elect. Eng., Cleveland state university, 2003.

. W.R.AbdulAdheem, I.K.Ibraheem, “Improved Sliding Mode Nonlinear Extended State Observer based Active Disturbance Rejection Control for Uncertain Systems with Unknown Total Disturbance”, International Journal of Advanced Computer Science and Applications, 2016, Vol. 7, No. 12, PP.80-93.

. Han, J., “From PID to active disturbance rejection control”, IEEE Transactions on Industrial Electronics, 2009, 56, (3), PP. 900–906.

. Z. Gao, S. Hu and F. Jiang. “A novel motion control design approach based on active disturbance rejection”, Proceedings of the 40th IEEE Conference on Decision and Control, Orlando, Florida USA, December 2001, pp: 4877-4882.

. J. Han, “A class of extended state observers for uncertain systems”, Control and Decision, Vol.10, No.1, pp: 85-88, 1995.

. Y. Hou, et al. “Active disturbance rejection control for web tension regulation'. Proceedings of the 40th IEEE Conference on Decision and Control, Orlando, Florida USA, December 2001, pp. 4974-4979.

. F. Esfandiari and H.K. Khalil. “Output feedback stabilization of fully linearizable systems”, International Journal of Control, 1992, pp. 1007:1037.

. M.W. Spong, D.J. Block, “The Pendubot: A mechatronic system for control research and education”, Proc. of the 34th IEEE Conference on Decision and Control, pp. 555–556, 1995.

. N.D quyen, N. van thuyen, “Rotary Inverted Pendulum and Control of Rotary Inverted Pendulum by Artificial Neural Network”, National Conference on Theoretical Physics, 2012, vol.37 , pp. 243-249.

. Isabelle Fantoni, Lozano Rogelio, “Non-linear Control for Underactuated Mechanical Systems”, springer verlage london, france, 2002.

. V. Sirisha and Dr. Anjali. S. Junghare, “A Comparative study of controllers for stabilizing a Rotary Inverted Pendulum”, International Journal of Chaos, Control, Modelling and Simulation (IJCCMS), India, DOI : 10.5121/ijccms.2014.3201, Vol.3, No.1/2, 2014.

. W.Wang 2003, “A Comparative Study of Nonlinear Observers and Control Design Strategies”, for degree of doctorate of engineering, Cleveland State University, 2003.

. Jinkun Liu, Xinhua Wang, “Advanced Sliding Mode Control for Mechanical Systems”, Tsinghua University Press, Beijing and Springer-Verlag, Berlin Heidelberg, 2012.

. Dufour Aurelie, et.al. “ Final REPORT Pendubot”, Royal Institute of Technology, 2006.


Refbacks

  • There are currently no refbacks.


 
  
 

 

  


About ASRJETS | Privacy PolicyTerms & Conditions | Contact Us | DisclaimerFAQs 

ASRJETS is published by (GSSRR).