scholarly journals Nonlinear Active Disturbance Rejection Control of VGT-EGR System in Diesel Engines

Energies ◽  
2020 ◽  
Vol 13 (20) ◽  
pp. 5331
Author(s):  
Pingyue Zhang ◽  
Jingyu Zhang ◽  
Yingshun Li ◽  
Yuhu Wu
Keyword(s):  
Disturbance Rejection ◽  
External Disturbance ◽  
Intake Manifold ◽  
Active Disturbance Rejection Control ◽  
Single Input Single Output ◽  
Single Output ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Nonlinear Extended State Observer ◽  
Intake Manifold Pressure

In this paper, a nonlinear active disturbance rejection control (NLADRC) strategy based on nonlinear extended state observer (NLESO) is proposed to solve the unmodeled dynamics, coupling and disturbance due to change of working point in the variable geometry turbine (VGT) and exhaust gas recirculation (EGR) system, so as to achieve accurate control of intake manifold pressure and mass air flow in a diesel engine. To achieve decoupling, the double-input double-output (DIDO) VGT-EGR system is decomposed into two single-input single-output (SISO) subsystems, and each subsystem has a separate nonlinear active disturbance rejection controller. At the same time, the convergence proof of the designed NLESO is also given theoretically. Finally, the NLADRC controller is compared with linear active disturbance rejection controller and proportional–integral–derivative (PID) controller. Through simulation, it is indicated that the proposed NLADRC controller has better transient response performance, resistance to external disturbance and robustness to the change of engine operating point.

Active Disturbance Rejection Control of a 2DOF manipulator with significant modeling uncertainty

2012 ◽  
Vol 60 (3) ◽  
pp. 509-520 ◽  
Author(s):  
M. Przybyła ◽  
M. Kordasz ◽  
R. Madoński ◽  
P. Herman ◽  
P. Sauer
Keyword(s):  
Disturbance Rejection ◽  
Active Disturbance Rejection Control ◽  
Single Input Single Output ◽  
Modeling Uncertainty ◽  
Single Output ◽  
Active Disturbance Rejection ◽  
Inertial Parameters ◽  
Disturbance Rejection Control ◽  
On Line ◽  
Output System

Abstract This paper presents a practical verification of an Active Disturbance Rejection Control (ADRC) method in governing a multidimensional system. The experiments were conducted on a two degrees of a freedom planar manipulator with only partial knowledge about the mathematical model of the plant. This multi input multi output system was controlled with a set of two, independent, single input single output ADRC controllers, each regulating one of the manipulator degree of freedom. Modeling uncertainty (nonlinearities, cross-coupling effects, etc.) and external disturbances were assumed to be a part of the disturbance, to be estimated with an observer and cancelled on-line in the control loop. The ADRC robustness was experimentally compared with the results obtained from using two decentralized, classic PID controllers. Both control methods were tested under various conditions, e.g. changing the inertial parameters of the plant. Significantly better results, in terms of parametric robustness, have been reported for the ADRC approach.

Stability control for end effect of mobile manipulator in uneven terrain based on active disturbance rejection control

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Chuang Cheng ◽  
Hui Zhang ◽  
Hui Peng ◽  
Zhiqian Zhou ◽  
Bailiang Chen ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
External Disturbance ◽  
Stability Control ◽  
Mobile Manipulator ◽  
Active Disturbance Rejection Control ◽  
End Effector ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Purpose When the mobile manipulator is traveling on an unconstructed terrain, the external disturbance is generated. The load on the end of the mobile manipulator will be affected strictly by the disturbance. The purpose of this paper is to reject the disturbance and keep the end effector in a stable pose all the time, a control method is proposed for the onboard manipulator. Design/methodology/approach In this paper, the kinematics and dynamics models of the end pose stability control system for the tracked robot are built. Through the guidance of this model information, the control framework based on active disturbance rejection control (ADRC) is designed, which keeps the attitude of the end of the manipulator stable in the pitch, roll and yaw direction. Meanwhile, the control algorithm is operated with cloud computing because the research object, the rescue robot, aims to be lightweight and execute work with remote manipulation. Findings The challenging simulation experiments demonstrate that the methodology can achieve valid stability control performance in the challenging terrain road in terms of robustness and real-time. Originality/value This research facilitates the stable posture control of the end-effector of the mobile manipulator and maintains it in a suitable stable operating environment. The entire system can normally work even in dynamic disturbance scenarios and uncertain nonlinear modeling. Furthermore, an example is given to guide the parameter tuning of ADRC by using model information and estimate the unknown internal modeling uncertainty, which is difficult to be modeled or identified.

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.

scholarly journals Novel Active Disturbance Rejection Control Based on Nested Linear Extended State Observers

2020 ◽  
Vol 10 (12) ◽  
pp. 4069
Author(s):  
Wameedh Riyadh Abdul-Adheem ◽  
Ahmad Taher Azar ◽  
Ibraheem Kasim Ibraheem ◽  
Amjad J. Humaidi
Keyword(s):  
Disturbance Rejection ◽  
Estimation Error ◽  
Tracking Error ◽  
Rate Of Change ◽  
Estimation Accuracy ◽  
Active Disturbance Rejection Control ◽  
Extended State ◽  
Single Input Single Output ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

In this paper, a Novel Active Disturbance Rejection Control (N-ADRC) strategy is proposed that replaces the Linear Extended State Observer (LESO) used in Conventional ADRC (C-ADRC) with a nested LESO. In the nested LESO, the inner-loop LESO actively estimates and eliminates the generalized disturbance. Increasing the bandwidth improves the estimation accuracy which may tolerate noise and conflict with H/W limitations and the sampling frequency of the system. Therefore, an alternative scenario is offered without increasing the bandwidth of the inner-loop LESO provided that the rate of change of the generalized disturbance estimation error is upper bounded. This was achieved by the placing of an outer-loop LESO in parallel with the inner one that estimates and eliminates the remaining generalized disturbance originating from the inner-loop LESO due to bandwidth limitations. The stability of LESO and nested LESO was investigated using Lyapunov stability analysis. Simulations on uncertain nonlinear single-input-single-output (SISO) system with time-varying exogenous disturbance revealed that the proposed nested LESO could successfully deal with a generalized disturbance in both noisy and noise-free environments, where the Integral Time Absolute Error (ITAE) of the tracking error for the nested LESO was reduced by 69.87% from that of the LESO.

scholarly journals Autonomous underwater vehicle depth control based on an improved active disturbance rejection controller

2019 ◽  
Vol 16 (6) ◽  
pp. 172988141989153
Author(s):  
Zhengzheng Zhang ◽  
Bingyou Liu ◽  
Lichao Wang
Keyword(s):  
Disturbance Rejection ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
External Disturbance ◽  
Underwater Vehicle ◽  
Active Disturbance Rejection Control ◽  
Optimal Control Strategy ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Depth Control

Large fluctuation, large overshoot, and uncertain external disturbance that occur when an autonomous underwater vehicle is in deep motion are difficult to address using the traditional control method. An optimal control strategy based on an improved active disturbance rejection control technology is proposed to enhance the trajectory tracking accuracy of autonomous underwater vehicles in actual bathymetric operations and resist external and internal disturbances. First, the depth motion and mathematical models of an autonomous underwater vehicle and propeller are established, respectively. Second, the control rate of the extended state observer and the nonlinear error feedback of the traditional active disturbance rejection control are improved by using a new nonlinear function. The nonlinearity, model uncertainty, and external disturbance of the autonomous underwater vehicle depth control system are extended to a new state, which is realized by an improved extended state observer. Third, the improved nonlinear state error feedback is used to suppress residual errors and provide high-quality control for the system. Simulation and experimental results show that under the same parameters, the traditional active disturbance rejection control has a small overshoot, fast tracking ability, and strong anti-interference ability. The optimized active disturbance rejection control and traditional active disturbance rejection control are applied to the deep-variation motion of autonomous underwater vehicles. Results show that the proposed optimal control strategy is not only simple and feasible but also demonstrates good control performance.

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.

Linear Active Disturbance Rejection Control for Grid-Connected Inverter With LCL Filter

2017 ◽  
Author(s):  
Yuchang Ling ◽  
Junyi Dong ◽  
Hongbo Yang ◽  
Yali Xue ◽  
Jiang Zeng ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
External Disturbance ◽  
Active Disturbance Rejection Control ◽  
Lcl Filter ◽  
Parameters Tuning ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Dynamic Performances ◽  
Grid Connected Inverter ◽  
Internal Coupling

This paper proposes a linear active disturbance rejection control (LADRC) for gird-connected inverter with LCL filter to deal with parameters variation, internal coupling and external disturbance. Relative degree of plant is used to design LADRC and on the basis of relationship between LADRCs parameters and bandwidth, the parameters tuning are sum up in several guidable points. It is demonstrated that LADRC presents a good dynamic performances, high disturbance rejection and extremely robust to parameters variation in Matlab/Simulink.

Stabilization of a class of switched uncertain systems by active disturbance rejection control

2018 ◽  
Vol 40 (16) ◽  
pp. 4421-4431 ◽  
Author(s):  
Chen Liu ◽  
Chaoyang Dong ◽  
Qing Wang ◽  
Maopeng Ran
Keyword(s):  
Disturbance Rejection ◽  
External Disturbance ◽  
Average Dwell Time ◽  
Feedback System ◽  
Active Disturbance Rejection Control ◽  
Extended State ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
System States ◽  
Estimate System

The problem of stabilization for a class of switched uncertain non-linear systems is studied by active disturbance rejection control (ADRC). Coordinate transformation is applied to transform the system into a strict feedback system in normal form. The unknown non-linearity, parameter uncertainty and external disturbance are treated as an extended state of each subsystem, and a corresponding switched extended state observer (ESO) is designed. Based on the output of the switched ESO, a switching ADRC law is proposed. Rigorous proof is given to show that the switched ESO can estimate system states and the unknown non-linearity of each subsystem effectively. Furthermore, the proposed controller guarantees the closed-loop system be semi-globally uniformly ultimately bounded for a class of switching with average dwell time. A numerical example illustrates the effectiveness of the proposed method.

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