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In this paper, a novel active disturbance rejection control (NADRC) with a super-twisting extended state observer (SESO) is utilized in the rocket launcher servo system. The main arguments in the shipborne rocket launcher system are control accuracy and antidisturbance ability, which are closely related to phase delay and bandwidth. Firstly, we use Taylor's formula approach to compensate the phase delay in traditional tracking differentiator (TD). Secondly, we design the parallel structured SESO to improve the observation bandwidth, so that it can estimate states with desired accuracy in NADRC. Finally, sinusoidal simulation results show Taylor's formula-based TD can suppress noise and compensate phase delays effectively. In comparison with traditional ADRC, the proposed NADRC is shown to have better tracking performance and stronger robustness. Semiphysical experiments are conducted to prove the feasibility of NADRC. [ABSTRACT FROM AUTHOR]

A novel self-organizing adaptive wavelet cerebellar model articulation controller backstepping (SOWCB) control is proposed, aiming at some nonlinear and uncertain factors that caused difficulties in controlling the AC servo system. This controller consists of self-organizing wavelet cerebellar model articulation controller (CMAC) and robust compensator. It absorbs fast learning and precise approaching advantage of self-organizing wavelet CMAC to mimic a backstepping controller, and then robust compensator is added to inhibit influence of the uncertainties on system performance effectively and realize high accuracy position tracking for AC servo system. Moreover, the stability of the control system can be guaranteed by using Lyapunov method. The results of the simulation and the prototype test prove that the proposed approach can improve the steady state performance and control accuracy and possess a strong robustness to both parameter perturbation and load disturbance. [ABSTRACT FROM AUTHOR]

In order to achieve better motion accuracy and higher robustness of the shipborne rocket launcher position servo system driven by a permanent magnet synchronous motor (PMSM), a passivity-based controller based on active disturbance rejection control (ADRC) optimized by improved particle swarm optimization-back propagation (IPSO-BP) algorithm is proposed in this paper. The convenient method of interconnection and damping assignment and passivity-based control (IDA-PBC) is adopted to establish the port controlled Hamiltonian system with dissipation (PCHD) model of PMSM. To further enhance the robustness and adaptability of traditional ADRC, an BP algorithm is introduced to on-line update the proportional, integral, and derivative gains of ADRC. Furthermore, to improve the learning capability, the improved PSO algorithm is adopted to optimize the learning rates of the back propagation neural networks. The results of numerical simulation and prototype test indicate that the proposed IPSO-BP-ADRC-PBC controller has better static and dynamic performance than the ADRC-PBC and BP-ADRC-PBC controller with fixed learning rate. [ABSTRACT FROM AUTHOR]