scholarly journals Improving the Active Disturbance Rejection Controller Tracking Quality by the Input-Gain Underestimation for a Second-Order Plant

Electronics ◽  
2021 ◽  
Vol 10 (8) ◽  
pp. 907
Author(s):  
Radosław Patelski ◽  
Dariusz Pazderski
Keyword(s):  
Disturbance Rejection ◽  
Threshold Value ◽  
Second Order ◽  
Tracking Errors ◽  
Control Precision ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Conscious Choice ◽  
Input Gain ◽  
Positive Factor

In this paper, a problem of influence of an input-gain uncertainty on the tracking performance of a control structure designed according to the Active Disturbance Rejection Control (ARDC) paradigm is investigated. This problem is exemplified using the second-order plant. It is presented that conscious choice of the input-gain parameter different to that of the real plant may lead to a significant improvement of the control precision if the controller is designed in an error domain. Obtained results indicate that the closed-loop system remains stable, and the tracking errors decrease if the value of this parameter follows from multiplying the plant gain input by a positive factor smaller than a certain threshold value. The upper limit for this factor is investigated in the paper and outcomes are presented for various implementation variants. Results of numerical computations, simulations and experiments are presented to consider this bounding value in individual cases.

scholarly journals An error-based active disturbance rejection control with memory structure

2020 ◽  
pp. 002029402091521 ◽  
Author(s):  
Sen Chen ◽  
Zhixiang Chen ◽  
Zhiliang Zhao
Keyword(s):  
Disturbance Rejection ◽  
Reference Signal ◽  
Memory Structure ◽  
Necessary Condition ◽  
Control Input ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Input Gain ◽  
With Memory

The paper studies the control problem for nonlinear uncertain systems with the situation that only the current reference signal is available. By constructing a memory structure to save the previous reference signals, a novel error-based active disturbance rejection control with an approximation for the second-order derivative of reference signal is proposed. The transient performance of the proposed method is rigorously studied, which implies the high consistence of the closed-loop system. More importantly, to attain the satisfactory tracking performance, the necessary condition for nominal control input gain is quantitatively investigated. Furthermore, the superiority of the proposed method is illuminated by contrastively evaluating the sizes of the total disturbance and its derivative. The proposed method can alleviate the burden of the estimation and compensation for total disturbance. Finally, the experiment for a manipulator platform shows the effectiveness of the proposed method.

On External Disturbance Rejection of Linear ADRC

2019 ◽  
Author(s):  
Huiyu Jin ◽  
Yang Chen ◽  
Weiyao Lan
Keyword(s):  
High Frequency ◽  
Disturbance Rejection ◽  
Bandpass Filter ◽  
External Disturbance ◽  
Low Frequency ◽  
Second Order ◽  
Control Technology ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Abstract Active disturbance rejection control (ADRC) is a quickly developing practical control technology while its ability to reject external disturbance is necessary to investigate deeply. Focusing on the simple case that the plant is an exactly known second order plant, this paper investigates the external disturbance rejection of linear ADRC. It reveals a separation diagram, in which the external disturbance goes into the output via a bandpass filter. That is the reason why linear ADRC can reject both low-frequency and high-frequency external disturbance.

A Nonlinear Control Method of Steering Angle Following Used in Steer-by-Wire System

2012 ◽  
Vol 190-191 ◽  
pp. 890-893 ◽  
Author(s):  
Yi Ran Li ◽  
Jian Ming Huang ◽  
Zhi Ming He
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Steering System ◽  
Second Order ◽  
Active Disturbance Rejection Control ◽  
Steering Angle ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Steer By Wire ◽  
Wire System

In this paper, active disturbance rejection control method is used to implement the steering angle following control of steer-by-wire system for the simplification of controller designing. The dynamic model of steering performing system is established, and then a second order active disturbance rejection controller is designed to control the steering angle. On the electric vehicle with steer-by-wire system, the angle following test of steering performing system is carried out under the control of the second order active disturbance rejection controller. The results show that the designed active disturbance rejection controller can restrain the effect of system resistant force on the accuracy of angle following and meet the requirement of steer-by-wire system to the steering angle following function. At the same time, there isn’t necessary to get the accurate data of steering system and the design process of controller becomes simple with adopting active disturbance rejection control method.

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