Smooth Switching Design/Implementation of the Active Disturbance Rejection Control

2017 ◽  
Author(s):  
Shen Zhao ◽  
Dan Morris ◽  
Zhiqiang Gao
Keyword(s):  
Disturbance Rejection ◽  
Order System ◽  
Control Algorithms ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Advanced Control ◽  
Aerial Vehicle ◽  
Smooth Switching ◽  
System With Time Delay

Although active disturbance rejection control (ADRC) has demonstrated promising results in many applications, in some safety critical applications e.g. power plant, unmanned aerial vehicle, etc., it is often reluctant to switch from an existing control algorithm, either the traditional PID controller or other advanced control algorithms, to a new one. If the switching between the control algorithms can be made seamless, many more opportunities may open up. In this paper, the problem of making the switching to the ADRC smooth is studied. Previous attempts to solve the problem are not thorough enough, since only a second order system was addressed. A very simple and effective method is proposed based on analysis to make the transition seamless. The solution is very general, and can be applied to system of any order or even system with time-delay. At the core of the solution is the initialization of the “total disturbance”.

Lower-Order Active Disturbance Rejection Control and Frequency Analysis of High Order System

2017 ◽  
Author(s):  
Ruiqing Zhang ◽  
Shubo Zhang ◽  
Yali Xue ◽  
Yu Hu ◽  
Wendi Wang
Keyword(s):  
Transfer Function ◽  
Frequency Analysis ◽  
Lower Order ◽  
Disturbance Rejection ◽  
High Order ◽  
Order System ◽  
Active Disturbance Rejection Control ◽  
High Order System ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Linear active disturbance rejection control (LADRC) has been paid much attention in academic and industrial fields. However, the selection of the order for LADRC controller design and the choice of parameter b0 in system correcting are key facts which are still being faced by designer. In this paper, an effective method about how to select the order of LADRC and the parameter b0 is given first. Frequency analysis often used by engineers for designing controller, the normal transfer function form of LADRC is constructed, so the loop gain, close loop transfer function and disturbance transfer function to a general high-order system are presented and can be easily used. The example shows that the proposed method is easy to apply and verified the lower-order LADRC can obtain the better effective than PID and high-order LADRC, and the frequency response analysis of a thermal power plant is elaborated and the simulation result indicates that LADRC has a strong robustness against the large variation of parameters in the plant mode.

Trajectory tracking control for a quadrotor unmanned aerial vehicle based on dynamic surface active disturbance rejection control

2020 ◽  
Vol 42 (12) ◽  
pp. 2198-2205
Author(s):  
Yong Zhang ◽  
Zengqiang Chen ◽  
Mingwei Sun
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Active Disturbance Rejection Control ◽  
Dynamic Surface ◽  
Virtual Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Aerial Vehicle ◽  
Surface Active

This paper proposes a dynamic surface active disturbance rejection control (ADRC) strategy to deal with trajectory tracking problems for a quadrotor unmanned aerial vehicle (UAV). Compared with backstepping control, the design process of the dynamic controller is more simple; the dynamic surface control introduces a first-order filter to obtain the derivative of the virtual control, the purpose is to avoid the virtual control derivation, and to simplify the control law of the whole system. The ADRC technique is mainly used to reject the disturbances and stabilize the quadrotor UAV system. Parametric uncertainties and external disturbances have been considered for the whole system, the control strategy that proposed in this paper has been simulated by MATLAB and the advantages and effectiveness of the control strategy that proposed in the paper are shown by comparing with the classical ADRC.

scholarly journals Combined of Lyapunov-stable and active disturbance rejection control for the path following of a small unmanned aerial vehicle

2017 ◽  
Vol 14 (2) ◽  
pp. 172988141769915 ◽  
Author(s):  
Yang Chen ◽  
Jianhong Liang ◽  
Chaolei Wang ◽  
Yicheng Zhang
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Disturbance Rejection ◽  
Controller Design ◽  
Hierarchical Control ◽  
Path Following ◽  
Roll Angle ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Aerial Vehicle

This article proposes a composite path following controller that allows the small fixed-wing unmanned aerial vehicle to follow a predefined path. Assuming that the vehicle is equipped with an autopilot for altitude and airspeed maintained well, the controller design adopts the hierarchical control structure. With the inner-loop controller design based on the notion of active disturbance rejection control which will respond to the desired roll angle command, the core part of the outer-loop controller is designed based on Lyapunov stability theorem to generate the desired course rate for the straight-line paths. The bank to turn maneuver is used to transform the desired course rate to the desired roll angle command. Both the hardware-in-the-loop simulation in the X-Plane simulator and actual experimental flight tests have been successfully achieved, which verified the effectiveness of the proposed method.

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