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.

scholarly journals High-Order Sliding Mode-Based Fixed-Time Active Disturbance Rejection Control for Quadrotor Attitude System

Electronics ◽  
2018 ◽  
Vol 7 (12) ◽  
pp. 357 ◽  
Author(s):  
Chunlin Song ◽  
Changzhu Wei ◽  
Feng Yang ◽  
Naigang Cui
Keyword(s):  
Disturbance Rejection ◽  
Sliding Mode ◽  
Fixed Time ◽  
High Order ◽  
Extended State Observer ◽  
Active Disturbance Rejection Control ◽  
Extended State ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Scheme

This article presents a fixed-time active disturbance rejection control approach for the attitude control problem of quadrotor unmanned aerial vehicle in the presence of dynamic wind, mass eccentricity and an actuator fault. The control scheme applies the feedback linearization technique and enhances the performance of the traditional active disturbance rejection control (ADRC) based on the fixed-time high-order sliding mode method. A switching-type uniformly convergent differentiator is used to improve the extended state observer for estimating and attenuating the lumped disturbance more accurately. A multivariable high-order sliding mode feedback law is derived to achieve fixed time convergence. The timely convergence of the designed extended state observer and the feedback law is proved theoretically. Mathematical simulations with detailed actuator models and real time experiments are performed to demonstrate the robustness and practicability of the proposed control scheme.

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”.

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