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All Journal Journal of Robotics and Control (JRC) International Journal of Robotics and Control Systems
Humaidi, Amjad J.
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Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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Journal : International Journal of Robotics and Control Systems

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Active Disturbance Rejection Control for Unmanned Aerial Vehicle Marwan, Hakam; Humaidi, Amjad J.; Al-Khazraji, Huthaifa
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1829

Abstract

This paper presents the design and analysis of a roll motion control system for a vertical take-off and landing of unmanned aerial car (VTOL-UAV) during the hovering flight phase. Ensuring stability and disturbance rejection during hovering is a significant challenge for UAVs, as external disturbances can lead to instability. To address these challenges, this study proposes an Active Disturbance Rejection Control (ADRC) strategy to enhance the system's roll stability and disturbance rejection. The primary contribution is the development of an improved ADRC system by integrating different types of extended state observers (ESO) with a Nonlinear-Proportional-Derivative (NPD) controller. The paper evaluates three ESO types—Linear (LESO), Nonlinear (NESO), and Fractional Order (FOESO)—for system state estimation and disturbance compensation. By combining the best ESO with NPD controller, an enhanced ADRC system is formed and its performance is compared against a conventional Proportional-Integral-Derivative (PID) controller. Numerical simulations performed using MATLAB demonstrate that ADRC significantly improves roll stability and disturbance rejection under both disturbed and undisturbed conditions. The results indicate that the LESO provides the best estimation accuracy, leading to superior system robustness. The ADRC system with LESO outperforms the PID controller in all test cases, particularly in disturbance rejection and stability. The study concludes that ADRC with LESO is an effective solution for improving VTOL-UAV roll motion control during hovering providing a promising approach for future UAV applications in dynamic environments.
Improved of Sliding Mode Control for Maximum Power Point Tracking in Solar Photovoltaic Applications Under Varying Conditions Hassan, Alaq F.; Nawfal, Mohanad; Al-Khazraji, Huthaifa; Humaidi, Amjad J.
International Journal of Robotics and Control Systems Vol 5, No 3 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i3.1925

Abstract

The solar energy generation sector has received widespread interest compared to other types of sustainable energy generation. This is owing to its high efficiency and the availability of environmental factors essential to the operation of these systems in various parts of the world. However, increased the power extracted from these systems are a critical issue as their conversion efficiency is low. Therefore, a maximum power point tracking (MPPT) controller is necessary in a photovoltaic generation system (PV) for maximum power extraction. This study aims to explore the performance of the MPPT system that uses an improved sliding mode controller (SMC) to identify and track a maximum power point (MPP) of a PV system and compares it to synergetic algorithm control (SACT). To implementing this purpose, MATLAB/Simulink model of a stand-alone PV panel is developed. Then, the analysis of the performance efficiency of the PV system based on the proposed MPPT methods are implemented under varying environmental conditions. Being able to track the MPP perfectly in the case of a sudden change in environment conditions, the improved SMC is proven by the results to be superior in stabilizing the boost converter's operation, leading to enhanced PV system stability. This has led to a reduction in power losses and an increase in efficiency.
Co-Authors Abdulkareem, Ahmed I. AL-Khazraji, Huthaifa Hassan, Alaq F. Kadhim, Mina Q. Mahdi, Shaymaa M. Marwan, Hakam Nawfal, Mohanad Yaseen, Farazdaq R.