Stability and performance comparison analysis for linear active disturbance rejection control–based system

2022 ◽  
pp. 014233122110659
Author(s):  
Jia Song ◽  
Jiangcheng Su ◽  
Yunlong Hu ◽  
Mingfei Zhao ◽  
Ke Gao
Keyword(s):  
Disturbance Rejection ◽  
State Feedback ◽  
Closed Loop ◽  
Transfer Functions ◽  
State Feedback Control ◽  
Closed Loop System ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Parameter Perturbations ◽  
And Performance

This paper investigates the stability and performance of the linear active disturbance rejection control (LADRC)–based system with uncertainties and external disturbance via transfer functions and a frequency-domain view. The performance of LADRC is compared with the state-observer-based state feedback control (SOSFC) and state feedback control (SFC). First, the transfer functions and the error transfer functions for LADRC, SOSFC, and SFC are studied using the state-space method. It is proven that the LADRC-, SOSFC-, and SFC-based closed-loop systems have the same transfer function from the reference input to the output and achieve the same control effects for the nominal system. Then, it is proven for the first time that the LADRC has a better anti-interference ability than the SOSFC and SFC. Besides, the asymptotic stability condition of LADRC-based closed-loop system considering large parameter perturbations is given first. Moreover, the sensitivity analysis of the closed-loop system is carried out. The results show that the LADRC has stronger robustness under parameter perturbations. According to the results, we conclude that the LADRC is of great disturbance rejection ability and strong robustness.

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.

Dynamic surface control and active disturbance rejection control-based integrated guidance and control design and simulation for hypersonic reentry missile

2016 ◽  
Vol 07 (03) ◽  
pp. 1650025 ◽  
Author(s):  
Cong Zhang ◽  
Yun-Jie Wu
Keyword(s):  
Disturbance Rejection ◽  
Closed Loop ◽  
Dynamic Surface Control ◽  
Closed Loop System ◽  
Dynamic Surface ◽  
Guidance And Control ◽  
Active Disturbance Rejection ◽  
Surface Control ◽  
Disturbance Rejection Control ◽  
And Control

This paper proposes a novel integrated guidance and control (IGC) method combining dynamic surface control (DSC) and active disturbance rejection control (ADRC) for the guidance and control system of hypersonic reentry missile (HRM) with bounded uncertainties. First, the model of HRM is established. Second, the proposed IGC method based on DSC and ADRC is designed. The stability of closed-loop system is proved strictly. It is worth mentioning that the ADRC technique is used to estimate and compensate the disturbance in the proposed IGC system. This makes the closed-loop system a better performance and reduces the chattering caused by lumped disturbances. Finally, a series of simulations and comparisons with a 6-DOF non-linear missile that includes all aerodynamic effects are demonstrated to illustrate the effectiveness and advantage of the proposed IGC method.

scholarly journals Linear Active Disturbance Rejection Control of a Two-Degrees-of-Freedom Manipulator

2020 ◽  
Vol 2020 ◽  
pp. 1-19 ◽  
Author(s):  
Dawei Liu ◽  
Qinhe Gao ◽  
Zhixiang Chen ◽  
Zhihao Liu
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Active Disturbance Rejection Control ◽  
Dynamic Coupling ◽  
Closed Loop System ◽  
Two Degrees Of Freedom ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

This paper presents linear active disturbance rejection control (LADRC) for a two-degrees-of-freedom (2-DOF) manipulator system to achieve trajectory tracking. The system is widely used in engineering applications and exhibits the characteristics of high nonlinearity, strong coupling, and large uncertainty with two inputs and two outputs. First, the problem of dynamic coupling in the model of the 2-DOF manipulator is addressed by considering the dynamic coupling, model uncertainties, and external disturbances as total disturbances. Second, a linear extended state observer is designed to estimate the total disturbances, while a linear state error feedback control law is designed to compensate these disturbances. The main contribution is that the stability of the closed-loop system with two inputs and two outputs is analyzed, and the relationship between the performance of the closed-loop system and the controller parameters is established. The joint simulation of SolidWorks and Matlab/Simulink is conducted. The simulation and experimental results clearly indicate the superiority of LADRC over the PID for trajectory tracking and dynamic performance.

A Digital Algorithm for Near-Minimum-Time Control of Robot Manipulators

1987 ◽  
Vol 109 (4) ◽  
pp. 320-327 ◽  
Author(s):  
C. K. Kao ◽  
A. Sinha ◽  
A. K. Mahalanabis
Keyword(s):  
Control Algorithm ◽  
State Feedback ◽  
Closed Loop ◽  
Robot Manipulator ◽  
Minimum Time ◽  
State Feedback Control ◽  
Final States ◽  
Closed Loop System ◽  
Time Control ◽  
Digital Algorithm

A digital state feedback control algorithm has been developed to obtain the near-minimum-time trajectory for the end-effector of a robot manipulator. In this algorithm, the poles of the linearized closed loop system are judiciously placed in the Z-plane to permit near-minimum-time response without violating the constraints on the actuator torques. The validity of this algorithm has been established using numerical simulations. A three-link manipulator is chosen for this purpose and the results are discussed for three different combinations of initial and final states.

scholarly journals StochasticH∞Control for Discrete-Time Singular Systems with State and Disturbance Dependent Noise

2017 ◽  
Vol 2017 ◽  
pp. 1-10
Author(s):  
Yong Zhao ◽  
Xiushan Jiang ◽  
Weihai Zhang
Keyword(s):  
Discrete Time ◽  
State Feedback ◽  
Closed Loop ◽  
Singular Systems ◽  
State Feedback Control ◽  
Linear Matrix ◽  
Mean Square ◽  
Matrix Inequalities ◽  
Closed Loop System ◽  
Theoretical Results

This paper is concerned with the stochasticH∞state feedback control problem for a class of discrete-time singular systems with state and disturbance dependent noise. Two stochastic bounded real lemmas (SBRLs) are proposed via strict linear matrix inequalities (LMIs). Based on the obtained SBRLs, a state feedbackH∞controller is presented, which not only guarantees the resulting closed-loop system to be mean square admissible but also satisfies a prescribedH∞performance level. A numerical example is finally given to illustrate the effectiveness of the proposed theoretical results.

scholarly journals Boundary stabilization and disturbance rejection for an unstable time fractional diffusion-wave equation

2022 ◽  
Author(s):  
Hua-Cheng Zhou ◽  
Ze-Hao Wu ◽  
Bao-Zhu Guo ◽  
Yangquan Chen
Keyword(s):  
Output Feedback ◽  
Disturbance Rejection ◽  
State Feedback ◽  
Closed Loop ◽  
External Disturbance ◽  
Fractional Diffusion ◽  
Loop System ◽  
Boundary Stabilization ◽  
Closed Loop System ◽  
Diffusion Wave

In this paper, we study boundary stabilization and disturbance rejection problem for an unstable time fractional diffusion-wave equation with Caputo time fractional derivative. For the case of no boundary external disturbance, both state feedback control and output feedback control via Neumann boundary actuation are proposed by the classical backstepping method. It is proved that the state feedback makes the closed-loop system Mittag-Leffler stable and the output feedback makes the closed-loop system asymptotically stable. When there is boundary external disturbance, we propose a disturbance estimator constructed by two infinite dimensional auxiliary systems to recover the external disturbance. A novel control law is then designed to compensate for the external disturbance in real time, and rigorous mathematical proofs are presented to show that the resulting closed-loop system is Mittag-Leffler stable and the states of all subsystems involved are uniformly bounded. As a result, we completely resolve, from a theoretical perspective, two long-standing unsolved mathematical control problems raised in [Nonlinear Dynam., 38(2004), 339-354] where all results were verified by simulations only.

Cascade active disturbance rejection control–based double closed-loop speed tracking control for automotive engine

2019 ◽  
Vol 21 (8) ◽  
pp. 1541-1554
Author(s):  
Meiyu Feng ◽  
Xiaohong Jiao ◽  
Zhong Wang
Keyword(s):  
Disturbance Rejection ◽  
Engine Speed ◽  
Closed Loop ◽  
Time Varying ◽  
Extended State ◽  
Set Point ◽  
Automotive Engine ◽  
Speed Controller ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

To improve tracking performance of engine speed in the face of nonlinearity and time-varying uncertainty, this article investigates the double closed-loop cascade active disturbance rejection control strategy for automotive engine control system. In this cascade control arrangement, the outer active disturbance rejection speed controller with the extended state observer for the speed error and its integral, and disturbance from load torque and time-varying uncertainty, drives the set-point of the inner loop to keep the engine speed to its set-point; meanwhile, the inner active disturbance rejection pressure controller with the extended state observer for the pressure error and its integral, and disturbance from the air mass flow rate leaving the intake manifold and the pumping fluctuation of air charge, manages the throttle valve to match the pressure with the set-point requested by the outer active disturbance rejection speed controller. The observer gains and controller gains of active disturbance rejection speed controller and active disturbance rejection pressure controller are determined by the linear matrix inequalities ensuring the stability and disturbance attenuation level of the closed-loop system. The effectiveness is validated by implementing the proposed strategy and a series of related control schemes in the simulator of a real V6 engine.

scholarly journals Active Disturbance Rejection Synchronization of Morris-Lecar Neurons

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Wei Wei ◽  
Yanjie Shao ◽  
Min Zuo
Keyword(s):  
Disturbance Rejection ◽  
Neural Model ◽  
Control Input ◽  
Active Disturbance Rejection Control ◽  
Neural Models ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Parameter Perturbations ◽  
Simulation Results ◽  
Difficult Issue

Synchronization of biological neurons is not only a hot topic, but also a difficult issue in the field of bioelectrical physiology. Numerous reported synchronization algorithms are designed on the basis of neural model, but they have deficiencies like relatively complex and poor robustness and are difficult to be realized. Morris-Lecar neuron is considered, and linear active disturbance rejection control (LADRC) is designed. Only one control input signal is utilized to synchronize membrane potentials of biological neurons. Meanwhile, in order to verify the robustness of synchronization, sinusoidal signal and parameter perturbations are introduced in numerical simulations. LADRC can still achieve satisfactory synchronization. Both theoretical and numerical simulation results show that LADRC is capable of estimating and cancelling disturbances and uncertainties. Neither accurate neural models nor concrete disturbance signal models are indispensable. A more practical and effective thought is provided to address the synchronization between neurons.

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