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Extended state observer based robust feedback linearization control applied to an industrial CSTR

Medjebouri Ali

Journal of Automation Mobile Robotics and Intelligent Systems

2023

Vol. 17, No. 4

68--78

In the chemical and petrochemical industry, the Continuous Stirred Tank Reactors (CSTR) are, without doubt, one of the most popular processes. From a control point of view, the mathematical model describing the temporal evolution of the CSTR has a strongly nonlinear cross-coupled character. Moreover, modeling errors such as external disturbances, neglected dynamics, and parameter variations or uncertainties make its control task a very difficult challenge. Even though this problem has been the subject of a wide number of control strategies, this article attempts to propose a viable, robust, nonlinear decoupling control scheme. The idea behind the proposed approach lies in the design of two nested control loops. The inner loop is responsible for the compensation of the nominal model nonlinear cross-coupled terms via static nonlinear feedback; whereas the outer loop, designed around an Extended State Observer (ESO) of which the additional state gathers the global effect of modeling errors, is charged to instantaneously estimate, and then to compensate the ESO extended state. This way, the CSTR complex dynamics are reduced to a series of decoupled linear subsystems easily controllable using a simple Proportional-Integral (PI) linear control to ensure the robust pursuit of reference signals respecting the desired performance. The presented control validation was performed numerically by an objective comparison to a classical PID controller. The obtained results clearly show the viability and the effectiveness of the proposed control strategy for dealing with such nonlinear, strongly cross-coupled plants subject to a wide range of disturbances despite the precision of their described mathematical model.

Path following control of fully actuated autonomous underwater vehicle based on LADRC

Lamraoui H. C., Qidan Z.

Polish Maritime Research

2018

nr 4

39--48

This paper presents an active disturbances rejecter controller (ADRC) for position and path following control of a fully actuated autonomous underwater vehicle (AUV). The unmodeled, undesirable dynamics and disturbances reduce the performances of classical controllers and complicate the design of appropriate and efficient controllers. In the proposed approach, the different modeling complexities; such as uncertain parameters, non-linearities, and external disturbances are considered all as a part of disturbance which is estimated in real-time by the extended state observer ESO, and effectively compensated from the control law. The ESO is also able to estimate the position and velocity of the system in real-time, in case where the full state measurement of the AUV is not possible during experiments. Computer simulations demonstrate the high ability of the AUV tracking control based on ADRC, to follow the desired trajectory in the horizontal plane and space with high precision, and showed high robustness and efficiency in rejecting the external and internal disturbances caused by significant changes in parameters of the system, and the added position disturbances.