Position control system via active disturbance rejection for laser optical systems

[EN] In this work, an Active Disturbance Rejection Control scheme for a Laser Beam Stabilization system is presented in a pragmatic way. First, a Linear Extended State Observer is designed, which allows estimating external disturbances, non-model dynamics, and the transverse displacement speed of the beam. Subsequently, a control law is proposed for regulation and tracking tasks. The stability analysis in the Input-to-State-Stability framework shows that the closed-loop system, plant-observer-controller is stable when the total disturbance is viewed as the input, and the state is the beam position error. This analysis presents new perspectives to a now-classic result. The experimental results show the performance of the control scheme. Using the L2 norm and the Integral of the Squared Error, the closed-loop performance is evaluated and compared with three controls generally used in this type of systems: PID, observer-based state feedback, and linear quadratic gaussian regulator.[ES] En este trabajo se presenta de manera pragmática un esquema de control por rechazo activo a perturbaciones para un sistema de direccionamiento y estabilización de haz láser. Primeramente es diseñado un Observador Lineal de Estado Extendido, el cual permite estimar las perturbaciones externas e incertidumbres en el modelo, así como la velocidad de desplazamiento transversal del haz. Posteriormente, se propone una ley de control, la cual contiene términos de retroalimentación y precompensación, permitiendo realizar tareas de regulación y seguimiento. Mediante un análisis de estabilidad en el sentido entrada a estado, se muestra que el sistema en lazo cerrado, planta-observador-controlador, es robustamente estable, cuando la entrada es la perturbación total y el estado es el error de posición del haz. Dicho análisis presenta nuevas perspectivas en una técnica ahora madura. Los resultados experimentales muestran el funcionamiento del esquema de control y mediante la norma L2 y la Integral del Error Cuadrático se mide el desempeño en lazo cerrado, el cual es comparado con tres controles generalmente usados en este tipo de sistemas: PID, control por retroalimentación de estados con observador y regulador lineal cuadrático gaussiano.Benemérita Universidad Autónoma de PueblaGuerrero-Castellanos, JF.; González-Romeo, LL. (2021). Sistema de control de posición mediante rechazo activo de perturbaciones para sistemas ópticos láser. 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B., Khalil, H. K., 2008. Performance recovery of feedback- linearization-based designs. IEEE Transactions on automatic control 53 (10), 2324-2334. https://doi.org/10.1109/TAC.2008.2006821Guerrero-Castellanos, J., Rifai, H., Arnez-Paniagua, V., Linares-Flores, J., Saynes-Torres, L., Mohammed, S., 2018. Robust active disturbance rejection control via control Lyapunov functions: Application to Actuated-Ank foot-Orthosis. Control Engineering Practice 80, 49 - 60. https://doi.org/10.1016/j.conengprac.2018.08.008Guo, B.-Z., Zhao, Z.-L., 2016. Active disturbance rejection control for nonlinear systems: An introduction. John Wiley & Sons.https://doi.org/10.1002/9781119239932Han, J., 2009. From PID to active disturbance rejection control. Transactions on Industry Electronics 56 (3), 900-906. https://doi.org/10.1109/TIE.2008.2011621Hernández-Méndez, A., Linares-Flores, J., Sira-Ram ́ırez, H., Guerrero- Castellanos, J., Mino-Aguilar, G., 2017. 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Design of controllers for a laser beam stabilizer using pid and observer-based state feedback control. In: 2011 ASME Early Career Technical Conference, ASME ECTC. Vol. 10. pp. 91-98.Konadu, K. A., Yi, S., Choi, W., Abu-Lebdeh, T., 2013. Robust positioning of laser beams using proportional integral derivative and based observer-feedback control. American Journal of Applied Sciences 10 (4), 374. https://doi.org/10.3844/ajassp.2013.374.387Landolsi, T., Dhaouadi, R., Aldabbas, O., 2011. Beam-stabilized optical switch using a voice-coil motor actuator. Journal of the Franklin Institute 348 (1), 1-11. https://doi.org/10.1016/j.jfranklin.2009.02.004Martinez, J., Sename, O., Voda, A., 2009. Modeling and robust control of Bluray disc servo-mechanisms. Mechatronics 19 (5), 715 - 725. https://doi.org/10.1016/j.mechatronics.2009.02.006Pérez-Arancibia, N., Chen, N., Gibson, J., Tsao, T.-C., 2006. 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Biomimetic-Based Output Feedback for Attitude Stabilization of Rigid Bodies: Real-Time Experimentation on a Quadrotor

International audienceThe present paper deals with the development of bounded feedback control laws mimicking the strategy adopted by flapping flyers to stabilize the attitude of systems falling within the framework of rigid bodies. Flapping flyers are able to orient their trajectory without any knowledge of their current attitude and without any attitude computation. They rely on the measurements of some sensitive organs: halteres, leg sensilla and magnetic sense, which give information about their angular velocity and the orientation of gravity and magnetic field vectors. Therefore, the proposed feedback laws are computed using direct inertial sensors measurements, that is vector observations with/without angular velocity measurements. Hence, the attitude is not explicitly required. This biomimetic approach is very simple, requires little computational power and is suitable for embedded applications on small control units. The boundedness of the control signal is taken into consideration through the design of the control laws by saturation of the actuators' input. The asymptotic stability Micromachines 2015, 6 994 of the closed loop system is proven by Lyapunov analysis. Real-time experiments are carried out on a quadrotor using MEMS inertial sensors in order to emphasize the efficiency of this biomimetic strategy by showing the convergence of the body's states in hovering mode, as well as the robustness with respect to external disturbances

SIMULACIÓN “HARDWARE IN THE LOOP” DEL CONTROL DE VELOCIDAD DE UN VEHÍCULO ELÉCTRICO CON MOTORES DE IMÁN PERMANENTE

Este trabajo presenta el diseño, integración y puesta en marcha, de un sistema de ´hardware in the loop´ para probar el control de velocidad de motores de imán permanente aplicados a tracción eléctrica. El sistema hardware in the loop (HIL) propuesto simula la carga mecánica que representa la dinámica de un auto eléctrico, así como el sistema de alimentación principal y los accionamientos eléctricos para controlar los dos motores que forman el sistema de tracción. Por otra parte, el algoritmo de control por campo orientado se programa en el sistema de control industrial CompactRIO. Los resultados obtenidos validan la operación adecuada del control

Estimation de l attitude et commande bornée en attitude d un corps rigide (application à un mini-hélicoptère à quatre rotors )

Ce travail de thèse porte sur l'estimation de l'attitude et la commande bornée en attitude d'un corps rigide. L'application mini hélicoptère à quatre rotors a été le support pour analyser les apports de nos approches. La première partie de cette thèse est consacrée à la description et la modélisation de 1 'hélicoptère à quatre rotors. Dans la deuxième partie, nous abordons le problème de l'estimation de l'attitude d'un corps rigide doté d'un ensemble de capteurs GAM (gyromètres, accéléromètres et magnétomètres). Nous proposons un observateur non linéaire afin de fusionner les différents types de mesures. Ensuite, nous montrons que l'observateur est robuste par rapport aux bruits et à des perturbations dans les mesures gyroscopiques. Une validation avec des données simulées et une implantation en temps réel montrent la capacité et les performances de l'approche proposée. Dans la dernière partie de ce travail nous établissons une loi de commande bornée pour la stabilisation globale en attitude d'un corps rigide. Dans le schéma proposé l'attitude est paramétrisée par le quaternion et la loi de commande est basée sur des fonctions de saturation imbriquées. En plus, la loi de commande permet de respecter des contraintes liées à la vitesse angulaire et la stabilité du système en boucle fermée est indépendante des paramètres inertiels du système. La caractéristique principale de l'approche proposée est son extrême simplicité. Ce résultat est ensuite étendu du corps rigide à 1 'hélicoptère à quatre rotors. Finalement, la loi de commande et l'observateur non linéaire sont implantés en temps réel et la stabilisation en attitude de 1 'hélicoptère est réalisée.This thesis work deals with the attitude estimation and the bounded attitude stabilisation of a rigid body. The application on the four-rotor helicopter was the support to analyze the contributions of our approaches. The first part of this work is devoted to the description and the modelling of the four-rotor helicopter. The second part of this work deals with the problem of the attitude estimation of a rigid body equipped with a GAM sensors module (rate gyros, accelerometers and magnetometers). A nonlinear observer is proposed in order to fuse all the information sources. It is shown then that the observer is robust towards noise and perturbation of the rate gyro measurements. The stability, convergence and robustness are confirmed in simulation and in a real-time application. The last part of this work presents the global stabilization of a rigid body by means of a bounded quaternion-based feedback. ln addition to input bounds, the nonlinear control takes into account the slew rate limits. The proposed control scheme is generic and can be applied to all systems falling in the framework of rigid bodies. Furthermore, its extreme simplicity rendering it suitable for embedded implementation. Because of the controllaw is model- independent, it is robust towards inertial matrix uncertainty. It is also shown that the control strategy can be applied to attitude stabilization of a four rotor mini-helicopter. Several real-time experiments have been performed on a real mini-helicopter in order to show the effectiveness of the DToDosed control aDDToach tOl!ether with the DToDosed non linear observer.GRENOBLE1-BU Sciences (384212103) / SudocGRENOBLE-GIPSA-lab (384212301) / SudocSudocFranceF

Generalized Synchronization of a Class of Spatiotemporal Chaotic Systems Using Nonlinear Observers

International audienceThis article proposes an approach to synchronize a class of unidimensional spatiotemporal chaotic systems using exponential nonlinear observers. The article focuses on generalized synchronization with parameter mismatching and a unidirectional master–slave topology. The approach involves the conception of two different nonlinear observers to estimate the unknown parameters of a master system, such that the estimated parameters can be injected into a controller tosynchronize the slave with the master. To illustrate the proposed approach, an example based on the Gray–Scott equations that exposes the synchronization and the observer conception is presented

A Robust Nonlinear Observer for Real-Time Attitude Estimation Using Low-Cost MEMS Inertial Sensors

This paper deals with the attitude estimation of a rigid body equipped with angular velocity sensors and reference vector sensors. A quaternion-based nonlinear observer is proposed in order to fuse all information sources and to obtain an accurate estimation of the attitude. It is shown that the observer error dynamics can be separated into two passive subsystems connected in “feedback”. Then, this property is used to show that the error dynamics is input-to-state stable when the measurement disturbance is seen as an input and the error as the state. These results allow one to affirm that the observer is “robustly stable”. The proposed observer is evaluated in real-time with the design and implementation of an Attitude and Heading Reference System (AHRS) based on low-cost MEMS (Micro-Electro-Mechanical Systems) Inertial Measure Unit (IMU) and magnetic sensors and a 16-bit microcontroller. The resulting estimates are compared with a high precision motion system to demonstrate its performance

Bounded Attitude Control with Active Disturbance Rejection Capabilities for Multirotor UAVs

International audienceThis paper addresses an attitude tracking control design applied to multirotor unmanned aerial vehicles (UAVs) based on an ADRC approach. The proposed technique groups the endogenous and exogenous disturbances into a total disturbance, and then this is estimated online via an extended state observer (ESO). Further, a quaternion-based feedback is developed, which is assisted by a feedforward term obtained via the ESO to relieve the total disturbance actively. The control law is bounded; consequently, it takes into account the maximum capabilities of the actuators to reject the disturbances. The stability is analyzed in the ISS framework, guaranteeing that the closed loop (controller-ESO-UAV) is robustly stable. The simulation results allow validation of the theoretical features

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"En este trabajo de investigación se estudió la oxidación de colas de bio-etanol como uso potencial en la producción de energía eléctrica en una celda de combustible de alcohol directo. Se sintetizó el material catalitico Pt/Al2 O3 /C, fue analizado por FT-IR y microscopia electrónica de barrido. Los resultados de voltamperometría cíclica nos indican que el catalizador puede llevar a cabo la reacción de oxidación de residuos de bio-etanol. La electrooxidación de alcohol se realizó hasta los 500 ciclos, mostrándose estable el catalizador al envenenamiento por CO durante todo el proceso. Se observó que la alumina como co-soporte incrementa la estabilidad y retarda el envenenamiento por la adsorción de CO en la supeficie de Pt"