Simulation on Active Disturbance Rejection Control

2013 ◽  
Vol 391 ◽  
pp. 420-423
Author(s):  
Wei Zhang ◽  
Ying Bo Cai ◽  
Xue Tong Wei
Keyword(s):  
Disturbance Rejection ◽  
Controller Design ◽  
Error Feedback ◽  
External Disturbances ◽  
Tracking Differentiator ◽  
Active Disturbance Rejection ◽  
Feedback Path ◽  
Disturbance Rejection Control ◽  
Excellent Control ◽  
Nonlinear State

A highly robust active disturbance rejection controller (ADRC) is developed in this paper. The proposed ADRC consists of a tracking differentiator (TD) in the feed forward path, an extended state observer (ESO), and a nonlinear state error feedback control law (NLSEF) in the feedback path. The control theory, the structure of ADRC and the controller design are presented. LabVIEW is used for modeling, simulation and analysis of the dynamic system. Simulation results show that the proposed ADRC has excellent control performance, especially outstanding adaptability and robustness external disturbances and model uncertainties.

Research on Active Disturbance Rejection Control Strategy of Static Reactive Power Generator

2015 ◽  
Vol 1092-1093 ◽  
pp. 316-320
Author(s):  
Jing Bai ◽  
Yu Zhang ◽  
Hui Da Duan ◽  
Shi Qi Lu ◽  
Chao Chao Li ◽  
...  
Keyword(s):  
Control Strategy ◽  
Pid Control ◽  
Disturbance Rejection ◽  
Control Algorithm ◽  
Reactive Power ◽  
Error Feedback ◽  
Power Generator ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Nonlinear State

For the shortcomings of large overshoot and poor anti-disturbance ability when using the traditional PID control, ADRC control algorithm that is a nonlinear state error feedback control algorithm has been proposed in the sophisticated control system of static reactive power generator. The simulation results show that the algorithm can make the system reactive power compensation more quickly and more effectively, therefore the control strategy is feasible.

scholarly journals Pitching axis control for a satellite camera based on a novel active disturbance rejection controller

2017 ◽  
Vol 9 (2) ◽  
pp. 168781401668903 ◽  
Author(s):  
Bingyou Liu ◽  
Yi Jin ◽  
Changan Zhu ◽  
Changzheng Chen
Keyword(s):  
Disturbance Rejection ◽  
Nonlinear Function ◽  
State Observer ◽  
Extended State Observer ◽  
The Novel ◽  
Error Feedback ◽  
Extended State ◽  
Tracking Differentiator ◽  
Active Disturbance Rejection ◽  
Nonlinear State

The pitching axis of a satellite camera is controlled under the weightless environment. A novel active disturbance rejection controller is designed to eliminate the influences of the pitching axis. The novel active disturbance rejection controller is designed based on a new nonlinear function, and thus, this function is first established. The function exhibits better continuity and smoothness than previously available functions, hence, it can effectively improve the high-frequency flutter phenomenon. Therefore, the novel active disturbance rejection controller based on the new nonlinear function can eliminate disturbances of the pitching axis. The novel active disturbance rejection controller is composed of a tracking differentiator, a novel extended state observer, and a novel nonlinear state error feedback. The tracking differentiator is used to arrange the transient process. Nonlinear dynamics, model uncertainty, and external disturbances are extended to a new state. The novel extended state observer is utilized to observe this state. The overtime variation of the system can be predicted and compensated using the novel extended state observer. The novel nonlinear state error feedback is adopted to restrain the residual errors of the system. Finally, simulation experiments are performed, and results show that the novel active disturbance rejection controller exhibits better performance than the traditional active disturbance rejection controller.

Automated steering controller design for vehicle lane keeping combining linear active disturbance rejection control and quantitative feedback theory

2018 ◽  
Vol 232 (7) ◽  
pp. 937-948 ◽  
Author(s):  
Zhengrong Chu ◽  
Christine Wu ◽  
Nariman Sepehri
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Controller Design ◽  
Active Disturbance Rejection Control ◽  
Quantitative Feedback Theory ◽  
Steering Control ◽  
Parameter Uncertainties ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Lane Keeping

In this article, a new automated steering control method is presented for vehicle lane keeping. This method is a combination between the linear active disturbance rejection control and the quantitative feedback theory. The structure of the steering controller is first determined based on the linear active disturbance rejection control, then the controller is tuned in the framework of the quantitative feedback theory to meet the prescribed design specifications on sensitivity and closed-loop stability. The parameter uncertainties of the vehicle system are considered at the tuning stage. The proposed steering controller is simulated and tested on a scale vehicle. Both the simulation and experimental results demonstrate that the scale vehicle controlled by the proposed controller is able to perform the lane keeping. In the experiments, the lateral offset between the scale vehicle and the road centerline is regulated within the acceptable ranges of ±0.03 m during straight lane keeping and ±0.15 m during curved lane keeping. The proposed controller is easy to be implemented and is simple without requiring complex calculations and measurements of vehicle states. Simulations also show that the control method can be implemented on a full-scale vehicle.

The Research of Frequency Characteristics of Tracking Differentiator

2012 ◽  
Vol 182-183 ◽  
pp. 1474-1478
Author(s):  
Fei Meng ◽  
Jien Yang ◽  
Peng Song Yang ◽  
Biao Sun
Keyword(s):  
Frequency Characteristic ◽  
Disturbance Rejection ◽  
Rapid Development ◽  
Parameter Variation ◽  
Control Technique ◽  
Control Synthesis ◽  
Active Disturbance Rejection Control ◽  
Tracking Differentiator ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Function fhan() and tracking differentiator are important components of Active Disturbance Rejection Control Technique. It is pointed out that function fhan() is not the optimal control synthesis function of discrete system, but function fsun() is. Amplitude and phase frequency characteristic curves of tracking differentiators constructed respectively by function fhan() and fsun() are given by computer simulations. The account formula about turning frequency is also given. Influence of parameter variation on tracking differentiator frequency characteristic is analyszed. The conclusion of this paper is supplement and perfection for the theory of tracking differentiator in Active Disturbance Rejection Control Technique, and it can promote rapid development of Active Disturbance Rejection Control Technique.

Trajectory Tracking Control for a Robotic Manipulator Using Nonlinear Active Disturbance Rejection Control

2017 ◽  
Author(s):  
Mohammed Ali ◽  
Charles K. Alexander
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Robot Manipulator ◽  
Tracking Performance ◽  
Active Disturbance Rejection Control ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

The tracking performance of a robot manipulator is controlled using nonlinear active disturbance rejection control (ADRC). The proposed method does not require the complete knowledge of the plant’s parameters, and external disturbances since it is based on the rejection and estimation of the unknown internal dynamics and external disturbances. The proposed method is simple and has minimal tuning parameters. The robustness of the proposed method is discussed against parameter uncertainties and disturbances. First, the mathematical model of the manipulator is developed. ADRC theory is explained. The manipulator is represented in ADRC form. ADRC’s tracking performance for the joints and end-effector is compared to the tracking performance of the robust passivity (RP) control. The simulations prove that the proposed control method achieves good tracking performance compared to RP control. It is shown that ADRC has a lower energy consumption compared to RP control by calculating the power in the input signals.

scholarly journals Active disturbance rejection control for heavy cargo airdrop operations

2018 ◽  
Vol 38 (2) ◽  
pp. 143-154 ◽  
Author(s):  
Shiwei Zhao ◽  
Dong Wang ◽  
Ri Liu ◽  
Xiuxia Sun
Keyword(s):  
Disturbance Rejection ◽  
Quality Evaluation ◽  
Control Method ◽  
Coupling Effect ◽  
Active Disturbance Rejection Control ◽  
Error Feedback ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Unknown Disturbances ◽  
Coupling Characteristics

In view of the strong nonlinear and coupling characteristics of the airdrop operations, a novel control method is proposed based on the active disturbance rejection control (ADRC) for decoupling control strategy of the pitch angle and airspeed. The unknown disturbances, including aerodynamic uncertainty and nonlinear coupling effect between the aircraft and cargo dynamics, are estimated and compensated with the extended state observer (ESO). Meanwhile, the nonlinear law state error feedback (NLSEF) is adopted to restrain the compensation residual. Simulation and flight quality evaluation shows the satisfactory capacity and strong robustness of the proposed control method in guaranteeing the airdrop task and flight safety.

Active Disturbance Rejection Controller Design for Electric Vehicle Traction System

2014 ◽  
Vol 953-954 ◽  
pp. 1406-1412
Author(s):  
Yu Min Wang ◽  
Qing Fan
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Controller Design ◽  
Current Loop ◽  
Low Velocity ◽  
Brushless Dc ◽  
Tracking Differentiator ◽  
Active Disturbance Rejection ◽  
Traction System

In some low velocity electric vehicle system, Brushless DC motor is used for the main traction motor. However, the low-velocity stability should be guaranteed, especially with the suddenly-changing load, the velocity response should be more quick and the overshoot should be small, all of above can make the vehicle more comfortable. The traction system is controlled by a current loop and a velocity loop, so a new method is proposed, that PI control strategy is in the current loop and the active disturbance rejection controller is in the velocity loop to restrain the bad effect results from suddenly-changing load. This active disturbance rejection controller is composed of a tracking differentiator, an extended state observer, a nonlinear state error feedback controller, and etc. The parameters of the controller are optimally designed, and the simulation results show that this control strategy can effectively restrain the suddenly-changing load and improve the vehicle’s low velocity performance.

scholarly journals A Delta Operator Approach for the Discrete-Time Active Disturbance Rejection Control on Induction Motors

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
John Cortés-Romero ◽  
Alberto Luviano-Juárez ◽  
Hebertt Sira-Ramírez
Keyword(s):  
Discrete Time ◽  
Disturbance Rejection ◽  
Induction Motors ◽  
Controller Design ◽  
Delta Operator ◽  
Active Disturbance Rejection Control ◽  
Operator Approach ◽  
Time Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

The problem of active disturbance rejection control of induction motors is tackled by means of a generalized PI observer based discrete-time control, using the delta operator approach as the methodology of analyzing the sampled time process. In this scheme, model uncertainties and external disturbances are included in a general additive disturbance input which is to be online estimated and subsequently rejected via the controller actions. The observer carries out the disturbance estimation, thus reducing the complexity of the controller design. The controller efficiency is tested via some experimental results, performing a trajectory tracking task under load variations.

scholarly journals A Novel Active Disturbance Rejection Control with a Super-Twisting Observer for the Rocket Launcher Servo System

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Di-Fen Shi ◽  
Yuan-Long Hou ◽  
Xiao-Hui Gu ◽  
Run-Min Hou
Keyword(s):  
Disturbance Rejection ◽  
Servo System ◽  
Phase Delay ◽  
Active Disturbance Rejection Control ◽  
Taylor’S Formula ◽  
Tracking Differentiator ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Accuracy ◽  
Taylor's Formula

In this paper, a novel active disturbance rejection control (NADRC) with a super-twisting extended state observer (SESO) is utilized in the rocket launcher servo system. The main arguments in the shipborne rocket launcher system are control accuracy and antidisturbance ability, which are closely related to phase delay and bandwidth. Firstly, we use Taylor’s formula approach to compensate the phase delay in traditional tracking differentiator (TD). Secondly, we design the parallel structured SESO to improve the observation bandwidth, so that it can estimate states with desired accuracy in NADRC. Finally, sinusoidal simulation results show Taylor’s formula-based TD can suppress noise and compensate phase delays effectively. In comparison with traditional ADRC, the proposed NADRC is shown to have better tracking performance and stronger robustness. Semiphysical experiments are conducted to prove the feasibility of NADRC.

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