scholarly journals A Set of Active Disturbance Rejection Controllers Based on Integrator Plus Dead-Time Models

2021 ◽  
Vol 11 (4) ◽  
pp. 1671
Author(s):  
Mikulas Huba ◽  
Paulo Moura Oliveira ◽  
Pavol Bistak ◽  
Damir Vrancic ◽  
Katarina Žáková
Keyword(s):  
Disturbance Rejection ◽  
Dead Time ◽  
Point Of View ◽  
State Variables ◽  
Input Output ◽  
Distributed Parameters ◽  
Active Disturbance Rejection ◽  
State Observers ◽  
Disturbance Rejection Control ◽  
The One

The paper develops and investigates a novel set of constrained-output robust controllers with selectable response smoothing degree designed for an integrator-plus-dead-time (IPDT) plant model. The input-output response of the IPDT system is internally approximated by several time-delayed, possibly higher-order plant models of increasing complexity. Since they all contain a single integrator, the presented approach can be considered as a generalization of active disturbance rejection control (ADRC). Due to the input/output model used, the controller commissioning can be based on a simplified process modeling, similar to the one proposed by Ziegler and Nichols. This allows it to be compared with several alternative controllers commonly used in practice. Its main advantage is simplicity, since it uses only two identified process parameters, even when dealing with more complex systems with distributed parameters. The proposed set of controllers with increasing complexity includes the stabilizing proportional (P), proportional-derivative (PD), or proportional-derivative-acceleration (PDA) controllers. These controllers can be complemented by extended state observers (ESO) for the reconstruction of all required state variables and non-measurable input disturbances, which also cover imperfections of a simplified plant modeling. A holistic performance evaluation on a laboratory heat transfer plant shows interesting results from the point of view of the optimal least sensitive solution with smooth input and output.

Adaptive output-feedback robust active disturbance rejection control for uncertain quadrotor with unknown disturbances

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Nigar Ahmed ◽  
Syed Awais Ali Shah
Keyword(s):  
Output Feedback ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
The State ◽  
Active Disturbance Rejection Control ◽  
State Variables ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Attitude Model

PurposeIn this research paper, an adaptive output-feedback robust active disturbance rejection control (RADRC) is designed for the multiple input multiple output (MIMO) quadrotor attitude model subject to unwanted uncertainties and disturbances (UUDs).Design/methodology/approachIn order to achieve the desired control objectives in the presence of UUDs, the low pass filter (LPF) and extended high gain observer (EHGO) methods are used for the estimation of matched and mismatched UUDs, respectively. Furthermore, for solving the chattering incurred in the standard sliding mode control (SMC), a multilayer sliding mode surface is constructed. For formulating the adaptive output-feedback RADRC algorithm, the EHGO, LPF and SMC schemes are combined using the separation principle.FindingsThe findings of this research work include the design of an adaptive output-feedback RADRC with the ability to negate the UUDs as well as estimate the unknown states of the quadrotor attitude model. In addition, the chattering problem is addressed by designing a modified SMC scheme based on the multilayer sliding mode surface obtained by utilizing the estimated state variables. This sliding mode surface is also used to obtain the adaptive criteria for the switching design gain parameters involved in the SMC. Moreover, the requirement of high design gain parameters in the EHGO is solved by combining it with the LPF.Originality/valueDesigning the flight control techniques while assuming that the state variables are available is a common practice. In addition, to obtain robustness, the SMC technique is widely used. However, in practice, the state variables might not be available due to unknown parameters and uncertainties, as well as the chattering due to SMC reduces the performances of the actuators. Hence, in this paper, an adaptive output-feedback RADRC technique is designed to solve the problems of UUDs and chattering.

scholarly journals Bus Voltage Control of DC Distribution Network Based on Sliding Mode Active Disturbance Rejection Control Strategy

Energies ◽  
2020 ◽  
Vol 13 (6) ◽  
pp. 1358 ◽  
Author(s):  
Boning Wu ◽  
Xuesong Zhou ◽  
Youjie Ma
Keyword(s):  
Disturbance Rejection ◽  
Sliding Mode ◽  
Distribution Network ◽  
Sliding Mode Controller ◽  
Active Disturbance Rejection Control ◽  
State Variables ◽  
Active Disturbance Rejection ◽  
Dc Distribution ◽  
Disturbance Rejection Control ◽  
Bus Voltage

The DC distribution network has more advantages in power transmission, grid connection of distributed energy, and reliability of power supply when compared with AC distribution network, but there are still many problems in the development of DC distribution network. DC bus voltage control is one of the hot issues in the research of DC distribution network. To solve this problem, in this paper, a new type of sliding mode active disturbance rejection control (SMADRC) controller for AC/DC converters is designed and applied to the voltage outer loop. The linear extended state observer (LESO) can observe the state variables and the total disturbance of the system. The SMADRC is composed of a sliding mode controller, LESO, and disturbance compensator, which can compensate the total disturbance observed by LESO properly. Therefore, it improves the dynamic. At the same time, it can also reduce the system jitter that is caused by sliding mode controller. The state variables that are observed by the LESO are used in the design of sliding mode controller, which greatly simplifies the design of sliding mode controller. Finally, the simulation results of Matlab/Simulink show that the controller has good start-up performance and strong robustness.

scholarly journals Model-free active input–output feedback linearization of a single-link flexible joint manipulator: An improved active disturbance rejection control approach

2020 ◽  
pp. 002029402091717 ◽  
Author(s):  
Wameedh Riyadh Abdul-Adheem ◽  
Ibraheem Kasim Ibraheem ◽  
Amjad J Humaidi ◽  
Ahmad Taher Azar
Keyword(s):  
Output Feedback ◽  
Disturbance Rejection ◽  
Feedback Linearization ◽  
Active Disturbance Rejection Control ◽  
Input Output ◽  
Model Free ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Nonlinear Extended State Observer ◽  
Flexible Joint Manipulator

Traditional input–output feedback linearization requires full knowledge of system dynamics and assumes no disturbance at the input channel and no system’s uncertainties. In this paper, a model-free active input–output feedback linearization technique based on an improved active disturbance rejection control paradigm is proposed to design feedback linearization control law for a generalized nonlinear system with a known relative degree. The linearization control law is composed of a scaled generalized disturbance estimated by an improved nonlinear extended state observer with saturation-like behavior and the nominal control signal produced by an improved nonlinear state error feedback. The proposed active input–output feedback linearization cancels in real-time fashion the generalized disturbances which represent all the unwanted dynamics, exogenous disturbances, and system uncertainties and transforms the system into a chain of integrators up to the relative degree of the system, which is the only information required about the nonlinear system. Stability analysis has been conducted based on the Lyapunov functions and revealed the convergence of the improved nonlinear extended state observer and the asymptotic stability of the closed-loop system. Verification of the outcomes has been achieved by applying the proposed active input–output feedback linearization technique on the single-link flexible joint manipulator. The simulations results validated the effectiveness of the proposed active input–output feedback linearization tool based on improved active disturbance rejection control as compared to the conventional active disturbance rejection control–based active input–output feedback linearization and the traditional input–output feedback linearization techniques.

Stabilization of a rotating flexible structure subject to matched input disturbances

2019 ◽  
Vol 41 (10) ◽  
pp. 2864-2874
Author(s):  
Ya-Ping Guo ◽  
Jun-Min Wang
Keyword(s):  
Angular Velocity ◽  
Disturbance Rejection ◽  
Closed Loop ◽  
Torque Control ◽  
Flexible Structure ◽  
Closed Loop System ◽  
Active Disturbance Rejection ◽  
State Observers ◽  
Disturbance Rejection Control ◽  
The Stability

In this paper, we are concerned with nondissipative controllers design of a rotating flexible structure subject to boundary control matched disturbances. The active disturbance rejection control (ADRC) method is adopted to cancel the disturbances. Firstly, the time varying gain extend state observers (ESOs) are constructed to estimate the disturbances. Then, using estimates of uncertainties generated by ESOs, nondissipative torque control and shear control are designed for disk and beam respectively. Finally, when the angular velocity of the disk is less than the square root of the smallest natural frequency of the beam, we prove that the proposed controllers can ensure the stability of the closed-loop system in the sense that the disk can be rotated with the desired angular velocity and the beam can be stabilized. Moreover, simulation results are presented to illustrate the effectiveness of the control strategy.

AUV’s Executer Fault-Tolerant Control Based on ADRC

2014 ◽  
Vol 1006-1007 ◽  
pp. 581-585 ◽  
Author(s):  
Lei Wan ◽  
Ying Hao Zhang ◽  
Yu Shan Sun ◽  
Yue Ming Li
Keyword(s):  
Control Strategy ◽  
Pid Control ◽  
Disturbance Rejection ◽  
Control Method ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Simulation Results ◽  
The One

An autonomous under vehicle (AUV) should have the ability of self-saving and finishing the certain targets when faults occur, which means that an AUV must have the ability of fault-tolerant control. In order to make it possible, one AUV’s fault-tolerant control strategy is made, which is based on the active disturbance rejection control (ADRC). In this paper, the control method in normal and the one in fault are offered respectively. Besides that, one simulation compared with PID control is made. The simulation results show the AUV’s fault-tolerant control strategy based on ADRC can achieve the goal and has better control results to restrain the shock, overshoot and other phenomena caused by disturbance than the strategy based on PID.

Active Disturbance Rejection Control for Trajectory Tracking of Manipulator Joint with Flexibility and Friction

2013 ◽  
Vol 325-326 ◽  
pp. 1229-1232 ◽  
Author(s):  
Ming Chu ◽  
Gang Chen ◽  
Fei Jie Huang ◽  
Qing Xuan Jia
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
External Disturbance ◽  
Active Disturbance Rejection Control ◽  
Tracking Accuracy ◽  
Active Disturbance Rejection ◽  
State Observers ◽  
Disturbance Rejection Control ◽  
In Series ◽  
Time Observation

For high-accuracy trajectory tracking of manipulator joint, the more realistic dynamic equations, considering reducer flexibility, nonlinear friction and external disturbance, are established and then decomposed into two subsystems in series. A double closed-loop controller, which is mainly used to compensate the flexibility, is designed by using active disturbance rejection control (ADRC) technology. The extended state observers are applied for real-time observation and compensation of the nonlinear terms. Simulation results indicate that the flexibility and friction are simultaneously overcomed, and the proposed controller can greatly improve the tracking accuracy.

Smith-ADRC for Main Steam Pressure of CFBB

2013 ◽  
Vol 432 ◽  
pp. 489-493
Author(s):  
Xi Liang Fu
Keyword(s):  
Disturbance Rejection ◽  
Circulating Fluidized Bed ◽  
Pressure Control ◽  
Steam Pressure ◽  
Combustion System ◽  
Distributed Parameters ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Long Time ◽  
Main Steam

The main steam pressure control is one of the most important parts in Circulating Fluidized Bed Boiler (CFBB) control system. However, it is difficult to design controller because the combustion system of CFBB is an object that has many features: distributed parameters, nonlinear, time-varying and long time-delay. Therefore, in this paper, Smith-Active Disturbance Rejection Control (ADRC) is proposed and simulation results demonstrate the Smith-ADRC is effective in main steam pressure control.

Application of Nonlinear Active Disturbance Rejection Control to One-DOF Electrostatic Actuators

2017 ◽  
Author(s):  
Prasanth B. Kandula ◽  
Lili Dong
Keyword(s):  
Disturbance Rejection ◽  
High Gain ◽  
Control Effort ◽  
Electrostatic Actuators ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Goal ◽  
Modeling Uncertainties ◽  
Non Linear ◽  
The One

In this paper, a non-linear active disturbance rejection controller (NADRC) is designed and originally applied to a non-linear one-degree-of-freedom electrostatic actuator (ESA). The imperfections of micro-fabrication and micro-packaging result in the modeling uncertainties of ESA. In addition, the ESA is inherently unstable due to pull-in phenomenon. So our control goal is to overcome the pull-in instability of ESA and achieve 99.99% of its full travel range despite of the presence of uncertainty. The NADRC consists of an extended state observer (ESO) and a feedback controller. Two kinds of ESOs are developed in this paper. They are high gain ESO (HG ESO) and the ESO with Fal nonlinearity (FAL ESO). The NADRC is independent of accurate model information, and therefore is a suitable controller for the uncertain ESA. The NADRCs with two different ESOs are simulated on the nonlinear ESA. A comparison study is conducted between both ESOs in terms of control performance and stability. The simulation results demonstrate the controllers with both ESOs reach our control goal successfully. While the NADRC with HG ESO generates larger control effort than the one with FAl ESO, the former is more robust against parameter variations and disturbance than the later.

Sign in / Sign up

Export Citation Format

Share Document