Deep Reinforcement Learning Based Online Parameter Tuning for Active Disturbance Rejection Control and Application in Ship Course Tracking

2021 ◽  
pp. 48-56
Author(s):  
Huayang Qin ◽  
Zengqiang Chen ◽  
Mingwei Sun ◽  
Panlong Tan ◽  
Qinglin Sun
Keyword(s):  
Reinforcement Learning ◽  
Disturbance Rejection ◽  
Parameter Tuning ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

A Novel Time-Varying Spectrum Based Approach to Active Disturbance Rejection Control

2017 ◽  
Author(s):  
Zhiqiang Pu ◽  
Xiangmin Tan ◽  
Ruyi Yuan ◽  
Jianqiang Yi
Keyword(s):  
Disturbance Rejection ◽  
Parameter Tuning ◽  
Stability And Convergence ◽  
Time Varying ◽  
Active Disturbance Rejection Control ◽  
Loop Control ◽  
Active Disturbance Rejection ◽  
State Dependent ◽  
Disturbance Rejection Control ◽  
Improved Performance

This paper presents a comprehensive framework for developing a novel time-varying spectrum based active disturbance rejection control (TVS-ADRC) technique. It complements conventional linear or nonlinear ADRC by introducing time-varying components, including time-varying extended state observer, time-varying tracking differentiator, and time-varying feedback, to offer better design flexibility and improved performance in command filtering, disturbance observation, and closed-loop control. First, skeleton stability and convergence analysis is introduced based on differential algebraic spectral theory. Then parameter tuning is categorized into two time-varying principles: a time-based profile and a state-dependent function, and a unified parameterization approach is given by assigning time-varying eigenvalues. Typical applications are pointed out which demonstrate great advantages of TVS-ADRC in consideration of varying plant or environment features and physical limits in practical systems. Challenges and future work for the TVS-ADRC technique are also summarized in the end.

scholarly journals Analysis and Tuning for Active Disturbance Rejection Control

2019 ◽  
Vol 2019 ◽  
pp. 1-11
Author(s):  
Fan Wang ◽  
Ran-Jun Wang ◽  
En-Hai Liu
Keyword(s):  
Disturbance Rejection ◽  
Parameter Tuning ◽  
Open Loop ◽  
Internal Model Control ◽  
System Stability ◽  
Theoretical Principle ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Model Control

The linear active disturbance rejection control (LADRC) method is investigated in this paper. Firstly, the integral effect of the ADRC is analyzed under the premise that ADRC was transformed into a new form. Then, ADRC is changed into an internal model control (IMC) framework, and an almost necessary and sufficient condition for stability and tracking performance of the ADRC system are proposed on this basis. In addition, some useful corollaries are proposed so that the traditional open-loop frequency-domain analysis method can be applied to ADRC system stability analysis. It also provides a theoretical principle and theoretical guidance for some parameter tuning. To improve the performance of ADRC, an approximate integral gain is treated as a separated adjustable parameter according to the new structure. Furthermore, tuning of some parameters is discussed to enhance system performance. Finally, simulations are used to verify the effectiveness of proposed methods.

A Fractional-Order Active Disturbance Rejection Controller Design for a PMSM Servo System

2021 ◽  
Author(s):  
Bolin Li ◽  
Pengchong Chen ◽  
Ying Luo
Keyword(s):  
Fractional Order ◽  
Disturbance Rejection ◽  
Controller Design ◽  
Tracking Error ◽  
Servo System ◽  
Parameter Tuning ◽  
Phase Constraint ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Abstract This paper proposes a fractional-order active disturbance rejection controller (FOADRC) parameters tuning design method for a permanent magnet synchronous motor (PMSM) servo system with frequency-domain analysis of active disturbance rejection control. In this method, a fractional-order proportional derivative (FOPD) and a fractional-order [proportional derivative] (FO[PD]) controllers design combining with active disturbance rejection control (ADRC) are proposed. A systematic parameter tuning scheme is presented, and a flat phase constraint is applied as a design specification, which guarantees the phase is flat around the gain crossover frequency point, and the closed-loop system is robust to gain variations. The simulation results illustrate that the response of the PMSM servo system using FO[PD]-ADRC has a smaller overshoot, less tracking error, and better resistance to load disturbance than that using FOPD-ADRC.

Active disturbance rejection control for bearingless permanent-magnet slice motor based on nonlinear phase-locked loop observer

2020 ◽  
pp. 095440622096813
Author(s):  
Yifan Zhang ◽  
Xiaodong Ruan ◽  
Liang Hu ◽  
Lingling Li ◽  
Bo Li ◽  
...  
Keyword(s):  
Permanent Magnet ◽  
Disturbance Rejection ◽  
Nonlinear Function ◽  
Parameter Tuning ◽  
Phase Locked Loop ◽  
Active Disturbance Rejection Control ◽  
Nonlinear Phase ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
The Mathematical Model

In this paper, an active disturbance rejection control (ADRC) controller based on a novel nonlinear phase-locked loop observer (NPLLO) is proposed to improve the disturbance rejection property and suspension performance of bearingless permanent-magnet slice motor (BPMSM) for bearingless pumps. First, based on the mathematical model of BPMSM for bearingless pumps, the novel NPLLO, a structure derived from the nonlinear phase-locked loop (PLL) and combining a special nonlinear function, is designed to estimate the uncertainties and load/radial disturbance in real time. Second, NPLLO-based ADRC (NP-ADRC) controllers are designed for rotation and suspension, respectively. Third, the parameter tuning of NP-ADRC is analyzed. Finally, NP-ADRC is analyzed with simulation in MATLAB/Simulink and verified on a BPMSM test bench. Both simulation and experimental results verified the effectiveness of the proposed method.

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