The performance of proton exchange membrane fuel cells is very sensitive to temperature. The electrochemical reaction results directly in temperature variations in the proton exchange membrane fuel cell. Ensuring effe...The performance of proton exchange membrane fuel cells is very sensitive to temperature. The electrochemical reaction results directly in temperature variations in the proton exchange membrane fuel cell. Ensuring effective temperature control is crucial to ensure fuel cell reliability and durability. This paper uses active disturbance rejection control in the thermal management system to maintain the operating temperature and the stack inlet and outlet temperature difference at the set value. First, key cooling system modules such as expansion tanks, coolant circulation pumps and radiators based on Simulink were built. Then, physical modeling and simulation of the fuel cell cooling system was carried out. In order to ensure the effectiveness of the control strategy and reduce the parameter tuning workload, an active disturbance rejection control parameter optimization method using an elite genetic algorithm was proposed. When the optimized control strategy responds to input disturbances, the maximum overshoot of the system is only 1.23% and can reach stability again in 30 s, so the fuel cell temperature can be controlled effectively. Simulation results show that the optimized control strategy can effectively control the stack temperature and coolant temperature difference under the influence of stepped charging current without interference or with interference, and has strong robustness and anti-interference capability.展开更多
Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturba...Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturbance suppression and have poor performance in suppressing complex nonlinear disturbances.In order to address these issues,this paper proposes an improved two-degree-of-freedom LADRC(TDOF-LADRC)strategy,which can enhance the disturbance rejection performance of the system while decoupling entirely the system's dynamic and anti-disturbance performance to boost the system robustness and simplify controller parameter tuning.PMSM models that consider total disturbances are developed to design the TDOF-LADRC speed controller accurately.Moreover,to evaluate the control performance of the TDOF-LADRC strategy,its stability is proven,and the influence of each controller parameter on the system control performance is analyzed.Based on it,a comparison is made between the disturbance observation ability and anti-disturbance performance of TDOF-LADRC and CLADRC to prove the superiority of TDOF-LADRC in rejecting disturbances.Finally,experiments are performed on a 750 W PMSM experimental platform,and the results demonstrate that the proposed TDOF-LADRC exhibits the properties of two degrees of freedom and improves the disturbance rejection performance of the PMSM system.展开更多
For the typical first-order systems with time-delay,this paper explors the control capability of linear active disturbance rejection control(LADRC).Firstly,the critical time-delay of LADRC is analyzed using the freque...For the typical first-order systems with time-delay,this paper explors the control capability of linear active disturbance rejection control(LADRC).Firstly,the critical time-delay of LADRC is analyzed using the frequency-sweeping method and the Routh criterion,and the stable time-delay interval starting from zero is accurately obtained,which reveals the limitations of general LADRC on large time-delay.Then in view of the large time-delay,an LADRC controller is developed and verified to be effective,along with the robustness analysis.Finally,numerical simulations show the accuracy of critical time-delay,and demonstrate the effectiveness and robustness of the proposed controller compared with other modified LADRCs.展开更多
The hybrid vibration isolation, which takes advantages of both the passive and active approaches, has been an important solution for space missions. The objective of this paper is to design a vibration isolation platf...The hybrid vibration isolation, which takes advantages of both the passive and active approaches, has been an important solution for space missions. The objective of this paper is to design a vibration isolation platform for payloads on spacecrafts with the robust, wide bandwidth, and multi-degree-of-freedom(MDOF). The proposed solution is based on a parallel mechanism with six voice-coil motors(VCMs) as the actuators. The linear active disturbance resistance control(LADRC) algorithm is used for the active control. Numerical simulation results show that the vibration isolation platform performs effectively over a wide bandwidth, and the resonance introduced by the passive isolation is eliminated. The system robustness to the uncertainties of the structure is also verified by simulation.展开更多
A linear flexible joint system using fractional order linear active disturbance rejection control is studied in this paper.With this control scheme,the performance against disturbances,uncertainties,and attenuation is...A linear flexible joint system using fractional order linear active disturbance rejection control is studied in this paper.With this control scheme,the performance against disturbances,uncertainties,and attenuation is enhanced.Linear active disturbance rejection control(LADRC)is mainly based on an extended state observer(ESO)technology.A fractional integral(FOI)action is combined with the LADRC technique which proposes a hybrid control scheme like FO-LADRC.Incorporating this FOI action improves the robustness of the standard LADRC.The set-point tracking of the proposed FO-LADRC scheme is designed by Bode’s ideal transfer function(BITF)based robust closed-loop concept,an appropriate pole placement method.The effectiveness of the proposed FO-LADRC scheme is illustrated through experimental results on the linear flexible joint system(LFJS).The results show the enhancement of the robustness with disturbance rejection.Furthermore,a comparative analysis is presented with the results obtained using the integer-order LADRC and FO-LADRC scheme.展开更多
Linear active disturbance rejection control(LADRC)is a powerful control structure thanks to its performance in uncertainties,internal and external disturbances estimation and cancelation.An extended state observer(ESO...Linear active disturbance rejection control(LADRC)is a powerful control structure thanks to its performance in uncertainties,internal and external disturbances estimation and cancelation.An extended state observer(ESO)based controller is the key to the LADRC method.In this article,the LADRC scheme combined with a fractional-order integral action(FOILADRC)is proposed to improve the robustness of the standard LADRC.Using the robust closed-loop Bode’s ideal transfer function(BITF),an appropriate pole placement method is proposed to design the set-point tracking controller of the FOI-LADRC scheme.Numerical simulations and experimental results on a cart-pendulum system will illustrate the effectiveness of the proposed FOI-LADRC scheme for the disturbance rejection,the set-point tracking and the improved robustness.To illustrate the LADRC control schemes and to verify the performance of the proposed FOI-LADRC,compared to the standard LADRC and IOI-LADRC structures,two tests will be carried out.First,simulation tests on an academic example will be presented to show the effect of the different parameters of the control law on the performance of the closed-loop system.Then,these three control structures are implemented on an experimental test bench,the cart-pendulum system,to show their efficiency and to show the superiority of the proposed method compared to the two other structures.展开更多
This paper deals with the problem of active disturbance rejection control(ADRC)design for a class of uncertain nonlinear systems with sporadic measurements.A novel extended state observer(ESO)is designed in a cascade ...This paper deals with the problem of active disturbance rejection control(ADRC)design for a class of uncertain nonlinear systems with sporadic measurements.A novel extended state observer(ESO)is designed in a cascade form consisting of a continuous time estimator,a continuous observation error predictor,and a reset compensator.The proposed ESO estimates not only the system state but also the total uncertainty,which may include the effects of the external perturbation,the parametric uncertainty,and the unknown nonlinear dynamics.Such a reset compensator,whose state is reset to zero whenever a new measurement arrives,is used to calibrate the predictor.Due to the cascade structure,the resulting error dynamics system is presented in a non-hybrid form,and accordingly,analyzed in a general sampled-data system framework.Based on the output of the ESO,a continuous ADRC law is then developed.The convergence of the resulting closed-loop system is proved under given conditions.Two numerical simulations demonstrate the effectiveness of the proposed control method.展开更多
The trajectory tracking control for a 6-DOF robot manipulator with multiple inputs and outputs,non-linearity and strong coupling is studied.Firstly,a dynamical model for the 6-DOF robot manipulator is designed.From th...The trajectory tracking control for a 6-DOF robot manipulator with multiple inputs and outputs,non-linearity and strong coupling is studied.Firstly,a dynamical model for the 6-DOF robot manipulator is designed.From the view point of practical engineering,considering the model uncertainties and external disturbances,the robot manipulator is divided into 6 independent joint subsystems,and a linear active disturbance rejection controller(LADRC)is developed to track trajectory for each subsystem respectively.LADRC has few parameters that are easy to be adjusted in engineering.Linear expansion state observer(LESO)as the uncertainty observer is able to estimate the general uncertainties effectively.Eventually,the validity and robustness of the proposed method adopted in 6-DOF robot manipulator are demonstrated via numerical simulations and 6-DOF robot manipulator experiments,which is of practical value in engineering application.展开更多
In this paper,a linear/nonlinear switching active disturbance rejection control(SADRC)based decoupling control approach is proposed to deal with some difficult control problems in a class of multi-input multi-output(M...In this paper,a linear/nonlinear switching active disturbance rejection control(SADRC)based decoupling control approach is proposed to deal with some difficult control problems in a class of multi-input multi-output(MIMO)systems such as multi-variables,disturbances,and coupling,etc.Firstly,the structure and parameter tuning method of SADRC is introduced into this paper.Followed on this,virtual control variables are adopted into the MIMO systems,making the systems decoupled.Then the SADRC controller is designed for every subsystem.After this,a stability analyzed method via the Lyapunov function is proposed for the whole system.Finally,some simulations are presented to demonstrate the anti-disturbance and robustness of SADRC,and results show SADRC has a potential applications in engineering practice.展开更多
Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed contr...Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed controller is designed by a transfer function model,which is obtained by adaptive differential evolution. Model error,friction and nonlinear factor existing in position loop are treated as ‘disturbance',which is estimated and compensated by generalized proportional integral( GPI)observer. Comparative results are provided to demonstrate the remarkable performance of the proposed method. It turns out that the proposed scheme is successful and has superior features,such as quick dynamic response,low overshoot and high tracking precision. Furthermore,with the proposed method,friction is suppressed effectively.展开更多
Conventional PI control encounters some problems when dealing with large lag process in the presence of parameter uncertainties.For the typical first-order process,an observerbased linear active disturbance rejection ...Conventional PI control encounters some problems when dealing with large lag process in the presence of parameter uncertainties.For the typical first-order process,an observerbased linear active disturbance rejection control(LADRC) scheme is presented to cope with the difficulties,and a reduced-order observer scheme is proposed further.Some quantitative dynamic results with regard to non-overshoot characteristics are obtained.Finally,the performance boundaries of LADRC and PI control are explicitly compared with each other,which shows that the former is more superior in most cases.展开更多
In this paper, a fuzzy sliding mode active disturbance rejection control(FSMADRC) scheme is proposed for an autonomous underwater vehicle-manipulator system(AUVMS) with a two-link and three-joint manipulator. First, t...In this paper, a fuzzy sliding mode active disturbance rejection control(FSMADRC) scheme is proposed for an autonomous underwater vehicle-manipulator system(AUVMS) with a two-link and three-joint manipulator. First, the AUVMS is separated into nine subsystems, and the combined effects of dynamic uncertainties, hydrodynamic force, unknown disturbances, and nonlinear coupling terms on each subsystem are lumped into a single total disturbance. Next, a linear extended state observer(LESO) is presented to estimate the total disturbance. Then, a sliding mode active disturbance rejection control(SMADRC) scheme is proposed to enhance the robustness of the control system. The stability of the SMADRC and the estimation errors of the LESO are analyzed. Because it is difficult to simultaneously adjust several parameters for a LESO-based SMADRC scheme, a fuzzy logic control(FLC) scheme is used to formulate the FSMADRC to determine the appropriate parameters adaptively for practical applications. Finally, two AUVMS tasks are illustrated to test the trajectory tracking performance of the closed-loop system and its ability to reject and attenuate the total disturbance. The simulation results show that the proposed FSMADRC scheme achieves better performance and consume less energy than conventional PID and FLC techniques.展开更多
A novel control scheme of active disturbance rejection internal model control(ADRIMC) is proposed to improve the anti-interference ability and robustness for the dead-time process. The active anti-interference concept...A novel control scheme of active disturbance rejection internal model control(ADRIMC) is proposed to improve the anti-interference ability and robustness for the dead-time process. The active anti-interference concept is introduced into the internal model control(IMC) by analyzing the relationship between IMC and disturbance observer control(DOB). Further, a design process of disturbance filter is presented to realize the active anti-interference ability for ADRIMC scheme. The disturbance filter is used to estimate an equivalent disturbance consisting of both external disturbances and internal disturbances caused by model mismatches.Simulation results demonstrate that the proposed method possesses a good disturbance rejection performance, though losing some partial dynamic performance. In other words, the proposed method shows a tradeoff between the dynamic performance and the system robust.展开更多
This paper proposes a liner active disturbance rejection control(LADRC) method based on the Q-Learning algorithm of reinforcement learning(RL) to control the six-degree-of-freedom motion of an autonomous underwater ve...This paper proposes a liner active disturbance rejection control(LADRC) method based on the Q-Learning algorithm of reinforcement learning(RL) to control the six-degree-of-freedom motion of an autonomous underwater vehicle(AUV).The number of controllers is increased to realize AUV motion decoupling.At the same time, in order to avoid the oversize of the algorithm, combined with the controlled content, a simplified Q-learning algorithm is constructed to realize the parameter adaptation of the LADRC controller.Finally, through the simulation experiment of the controller with fixed parameters and the controller based on the Q-learning algorithm, the rationality of the simplified algorithm, the effectiveness of parameter adaptation, and the unique advantages of the LADRC controller are verified.展开更多
Waste water treatment process(WWTP)control has been attracting more and more attention.However,various undesired factors,such as disturbance,uncertainties,and strong nonlinear couplings,propose big challenges to the c...Waste water treatment process(WWTP)control has been attracting more and more attention.However,various undesired factors,such as disturbance,uncertainties,and strong nonlinear couplings,propose big challenges to the control of a WWTP.In order to improve the control performance of the closed-loop system and guarantee the discharge requirements of the effluent quality,rather than take the model dependent control approaches,an active disturbance rejection control(ADRC)is utilized.Based on the control signal and system output,a phase optimized ADRC(POADRC)is designed to control the dissolved oxygen and nitrate concentration in a WWTP.The phase advantage of the phase optimized extended state observer(POESO),convergence of the POESO,and stability of the closed-loop system are analyzed from the theoretical point of view.Finally,a commonly accepted benchmark simulation model no.1.(BSM1)is utilized to test the POESO and POADRC.Linear active disturbance rejection control(LADRC)and the suggested proportion-integration(PI)control are taken to make a comparative research.Both system responses and performance index values confirm the advantage of the POADRC over the LADRC and the suggested PI control.Numerical results show that,as a result of the leading phase of the total disturbance estimation,the POESO based POADRC is an effective and promising way to control the dissolved oxygen and nitrate concentration so as to ensure the effluent quality of a WWTP.展开更多
Active disturbance rejection controller (ADRC) has good performance in induction motor (IM) control system, but controller parameter is difficult to tune. A method of tuning ADRC parameter by time scale is analyzed. T...Active disturbance rejection controller (ADRC) has good performance in induction motor (IM) control system, but controller parameter is difficult to tune. A method of tuning ADRC parameter by time scale is analyzed. The IM time scale is obtained by theoretical analysis. Combining the relations between scale time and ADRC parameters, ADRC parameter tuning in IM vector control based stator flux oriented is obtained. This parameter tuning method is validated by simulations and it provides a new technique for tuning of ADRC parameters of IM.展开更多
The control problem of multiple-flexible-link manipulators( MFLMs) is studied in this paper.The dynamic model of MFLM is derived and separated into two-time scale by utilizing the singular perturbation technique. The ...The control problem of multiple-flexible-link manipulators( MFLMs) is studied in this paper.The dynamic model of MFLM is derived and separated into two-time scale by utilizing the singular perturbation technique. The active disturbance rejection control( ADRC) is adopted to the slow subsystem to track a desired trajectory. The proposed ADRC structure preshapes the desired trajectory by utilizing the tracking differentiator,estimates the disturbance and internal states with an extended state observer,and guarantees a robust performance by combining a feedback controller with a feedforward term. Two types of feedback controllers are designed,proportional derivative( PD) controller and nonlinear PD( NPD) controller. For the fast subsystem,a fast stabilizing control is designed according to the standard linear quadratic regulator approach. Simulations are performed to evaluate the proposed control scheme.Results show that,compared with the traditional PD controller,the ADRC structure based control scheme has smaller overshot and shorter settling time,suppresses vibration quickly,and is robust to the maneuver speed. In general,the control scheme utilizing ADRC structure and NPD feedback controller shows better performance.展开更多
The highly nonlinear behavior of the system limits the performance of classical linear proportional and integral (PI) controllers used for hot rolling. An active disturbance rejection controller is proposed in this pa...The highly nonlinear behavior of the system limits the performance of classical linear proportional and integral (PI) controllers used for hot rolling. An active disturbance rejection controller is proposed in this paper to deal with the nonlinear problem of hydraulic servo system in order to preserve fast response and small overshoot of control system. The active disturbance rejection (ADR) controller is composed of nonlinear tracking differentiator (TD),extended state observer (ESO) and nonlinear feedback (NF) law. An example of the hydraulic edger system case study is investigated to show the effectiveness and robustness of the proposed nonlinear controller,especially,in the circumstance of foreign disturbance and working condition variation,compared with classic PI controller.展开更多
The high-purity distillation column system is strongly nonlinear and coupled,which makes it difficult to control.Active disturbance rejection control(ADRC)has been widely used in distillation systems,but it has limita...The high-purity distillation column system is strongly nonlinear and coupled,which makes it difficult to control.Active disturbance rejection control(ADRC)has been widely used in distillation systems,but it has limitations in controlling distillation systems with large time delays since ADRC employs ESO and feedback control law to estimate the total disturbance of the system without considering the large time delays.This paper designs a proportion integral-type active disturbance rejection generalized predictive control(PI-ADRGPC)algorithm to control the distillation column system with large time delay.It replaces the PD controller in ADRC with a proportion integral-type generalized predictive control(PI-GPC),thereby improving the performance of control systems with large time delays.Since the proposed controller has many parameters and is difficult to tune,this paper proposes to use the grey wolf optimization(GWO)to tune these parameters,whose structure can also be used by other intelligent optimization algorithms.The performance of GWO tuned PI-ADRGPC is compared with the control performance of GWO tuned ADRC method,multi-verse optimizer(MVO)tuned PI-ADRGPC and MVO tuned ADRC.The simulation results show that the proposed strategy can track reference well and has a good disturbance rejection performance.展开更多
Focusing on the three-dimensional guidance problem in case of target maneuvers and response delay of the autopilot, the missile guidance law utilizing active disturbance rejection control (ADRC) is proposed. Based o...Focusing on the three-dimensional guidance problem in case of target maneuvers and response delay of the autopilot, the missile guidance law utilizing active disturbance rejection control (ADRC) is proposed. Based on the nonlinear three-dimensional missile target engagement kinematics, the guidance model is es- tablished, The target acceleration is treated as a disturbance and the dynamics of the autopilot is considered by using a first-order model. A nonlinear continuous robust guidance law is designed by using a cascaded structure ADRC controller. In this method the disturbance is estimated by using the extended state observer (ESO) and compensated during each sampling period. Simulation results show that the proposed cascaded loop structure is a viable solution to the guidance law design and has strong robustness with respect to target maneuvers and response delay of the autopilot.展开更多
文摘The performance of proton exchange membrane fuel cells is very sensitive to temperature. The electrochemical reaction results directly in temperature variations in the proton exchange membrane fuel cell. Ensuring effective temperature control is crucial to ensure fuel cell reliability and durability. This paper uses active disturbance rejection control in the thermal management system to maintain the operating temperature and the stack inlet and outlet temperature difference at the set value. First, key cooling system modules such as expansion tanks, coolant circulation pumps and radiators based on Simulink were built. Then, physical modeling and simulation of the fuel cell cooling system was carried out. In order to ensure the effectiveness of the control strategy and reduce the parameter tuning workload, an active disturbance rejection control parameter optimization method using an elite genetic algorithm was proposed. When the optimized control strategy responds to input disturbances, the maximum overshoot of the system is only 1.23% and can reach stability again in 30 s, so the fuel cell temperature can be controlled effectively. Simulation results show that the optimized control strategy can effectively control the stack temperature and coolant temperature difference under the influence of stepped charging current without interference or with interference, and has strong robustness and anti-interference capability.
文摘Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturbance suppression and have poor performance in suppressing complex nonlinear disturbances.In order to address these issues,this paper proposes an improved two-degree-of-freedom LADRC(TDOF-LADRC)strategy,which can enhance the disturbance rejection performance of the system while decoupling entirely the system's dynamic and anti-disturbance performance to boost the system robustness and simplify controller parameter tuning.PMSM models that consider total disturbances are developed to design the TDOF-LADRC speed controller accurately.Moreover,to evaluate the control performance of the TDOF-LADRC strategy,its stability is proven,and the influence of each controller parameter on the system control performance is analyzed.Based on it,a comparison is made between the disturbance observation ability and anti-disturbance performance of TDOF-LADRC and CLADRC to prove the superiority of TDOF-LADRC in rejecting disturbances.Finally,experiments are performed on a 750 W PMSM experimental platform,and the results demonstrate that the proposed TDOF-LADRC exhibits the properties of two degrees of freedom and improves the disturbance rejection performance of the PMSM system.
基金supported by the National Natural Science Foundation of China(61973175,61973172,62073177)the Key Technologies R&D Program of Tianjin(19JCZDJC32800)Tianjin Research Innovation Project for Postgraduate Students(2020YJSZXB02).
文摘For the typical first-order systems with time-delay,this paper explors the control capability of linear active disturbance rejection control(LADRC).Firstly,the critical time-delay of LADRC is analyzed using the frequency-sweeping method and the Routh criterion,and the stable time-delay interval starting from zero is accurately obtained,which reveals the limitations of general LADRC on large time-delay.Then in view of the large time-delay,an LADRC controller is developed and verified to be effective,along with the robustness analysis.Finally,numerical simulations show the accuracy of critical time-delay,and demonstrate the effectiveness and robustness of the proposed controller compared with other modified LADRCs.
基金the National Natural Science Foundation of China (No. 11572215)the Fundamental Research Funds for the Central Universities (No. N160503002)the China Scholarship Council。
文摘The hybrid vibration isolation, which takes advantages of both the passive and active approaches, has been an important solution for space missions. The objective of this paper is to design a vibration isolation platform for payloads on spacecrafts with the robust, wide bandwidth, and multi-degree-of-freedom(MDOF). The proposed solution is based on a parallel mechanism with six voice-coil motors(VCMs) as the actuators. The linear active disturbance resistance control(LADRC) algorithm is used for the active control. Numerical simulation results show that the vibration isolation platform performs effectively over a wide bandwidth, and the resonance introduced by the passive isolation is eliminated. The system robustness to the uncertainties of the structure is also verified by simulation.
基金This research work was funded by Institutional Fund Projects under Grant No.(IFPRC-027-135-2020).
文摘A linear flexible joint system using fractional order linear active disturbance rejection control is studied in this paper.With this control scheme,the performance against disturbances,uncertainties,and attenuation is enhanced.Linear active disturbance rejection control(LADRC)is mainly based on an extended state observer(ESO)technology.A fractional integral(FOI)action is combined with the LADRC technique which proposes a hybrid control scheme like FO-LADRC.Incorporating this FOI action improves the robustness of the standard LADRC.The set-point tracking of the proposed FO-LADRC scheme is designed by Bode’s ideal transfer function(BITF)based robust closed-loop concept,an appropriate pole placement method.The effectiveness of the proposed FO-LADRC scheme is illustrated through experimental results on the linear flexible joint system(LFJS).The results show the enhancement of the robustness with disturbance rejection.Furthermore,a comparative analysis is presented with the results obtained using the integer-order LADRC and FO-LADRC scheme.
基金This project was supported by the Deanship of Scientific Research(DSR),King Abdulaziz University,Jeddah,under grant No.(DF-474-135-1441).The authors,therefore,gratefully acknowledge DSR technical and financial support.
文摘Linear active disturbance rejection control(LADRC)is a powerful control structure thanks to its performance in uncertainties,internal and external disturbances estimation and cancelation.An extended state observer(ESO)based controller is the key to the LADRC method.In this article,the LADRC scheme combined with a fractional-order integral action(FOILADRC)is proposed to improve the robustness of the standard LADRC.Using the robust closed-loop Bode’s ideal transfer function(BITF),an appropriate pole placement method is proposed to design the set-point tracking controller of the FOI-LADRC scheme.Numerical simulations and experimental results on a cart-pendulum system will illustrate the effectiveness of the proposed FOI-LADRC scheme for the disturbance rejection,the set-point tracking and the improved robustness.To illustrate the LADRC control schemes and to verify the performance of the proposed FOI-LADRC,compared to the standard LADRC and IOI-LADRC structures,two tests will be carried out.First,simulation tests on an academic example will be presented to show the effect of the different parameters of the control law on the performance of the closed-loop system.Then,these three control structures are implemented on an experimental test bench,the cart-pendulum system,to show their efficiency and to show the superiority of the proposed method compared to the two other structures.
基金supported by the National Natural Science Foundation of China(61833016,61873295).
文摘This paper deals with the problem of active disturbance rejection control(ADRC)design for a class of uncertain nonlinear systems with sporadic measurements.A novel extended state observer(ESO)is designed in a cascade form consisting of a continuous time estimator,a continuous observation error predictor,and a reset compensator.The proposed ESO estimates not only the system state but also the total uncertainty,which may include the effects of the external perturbation,the parametric uncertainty,and the unknown nonlinear dynamics.Such a reset compensator,whose state is reset to zero whenever a new measurement arrives,is used to calibrate the predictor.Due to the cascade structure,the resulting error dynamics system is presented in a non-hybrid form,and accordingly,analyzed in a general sampled-data system framework.Based on the output of the ESO,a continuous ADRC law is then developed.The convergence of the resulting closed-loop system is proved under given conditions.Two numerical simulations demonstrate the effectiveness of the proposed control method.
基金Supported by the National Natural Science Foundation of China(No.11672290)
文摘The trajectory tracking control for a 6-DOF robot manipulator with multiple inputs and outputs,non-linearity and strong coupling is studied.Firstly,a dynamical model for the 6-DOF robot manipulator is designed.From the view point of practical engineering,considering the model uncertainties and external disturbances,the robot manipulator is divided into 6 independent joint subsystems,and a linear active disturbance rejection controller(LADRC)is developed to track trajectory for each subsystem respectively.LADRC has few parameters that are easy to be adjusted in engineering.Linear expansion state observer(LESO)as the uncertainty observer is able to estimate the general uncertainties effectively.Eventually,the validity and robustness of the proposed method adopted in 6-DOF robot manipulator are demonstrated via numerical simulations and 6-DOF robot manipulator experiments,which is of practical value in engineering application.
基金supported by the Scientific Research Innovation Development Foundation of Army Engineering University((2019)71).
文摘In this paper,a linear/nonlinear switching active disturbance rejection control(SADRC)based decoupling control approach is proposed to deal with some difficult control problems in a class of multi-input multi-output(MIMO)systems such as multi-variables,disturbances,and coupling,etc.Firstly,the structure and parameter tuning method of SADRC is introduced into this paper.Followed on this,virtual control variables are adopted into the MIMO systems,making the systems decoupled.Then the SADRC controller is designed for every subsystem.After this,a stability analyzed method via the Lyapunov function is proposed for the whole system.Finally,some simulations are presented to demonstrate the anti-disturbance and robustness of SADRC,and results show SADRC has a potential applications in engineering practice.
基金Supported by the National High Technology Research and Development Programme of China(No.2015AA8082065)the National Natural Science Foundation of China(No.61205143)
文摘Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed controller is designed by a transfer function model,which is obtained by adaptive differential evolution. Model error,friction and nonlinear factor existing in position loop are treated as ‘disturbance',which is estimated and compensated by generalized proportional integral( GPI)observer. Comparative results are provided to demonstrate the remarkable performance of the proposed method. It turns out that the proposed scheme is successful and has superior features,such as quick dynamic response,low overshoot and high tracking precision. Furthermore,with the proposed method,friction is suppressed effectively.
基金supported by the National Natural Science Foundation of China(60774088)the National High Technology Research and Development Program of China(863 Program)(2009AA04Z132)the Specialized Research Fund for the Doctoral Program of Higher Education of China(20090031110029)
文摘Conventional PI control encounters some problems when dealing with large lag process in the presence of parameter uncertainties.For the typical first-order process,an observerbased linear active disturbance rejection control(LADRC) scheme is presented to cope with the difficulties,and a reduced-order observer scheme is proposed further.Some quantitative dynamic results with regard to non-overshoot characteristics are obtained.Finally,the performance boundaries of LADRC and PI control are explicitly compared with each other,which shows that the former is more superior in most cases.
基金supported in part by the Fundamental Research Funds for the Central Universities (No. 201964012)the Open Foundation of Henan Key Laboratory of Underwater Intelligent Equipment (No. KL02A1802)+1 种基金the National Natural Science Foundations of China (Nos. 61603361 and 51979256)the Shandong Provincial Natural Science Foundation (No. ZR2017MEE015)。
文摘In this paper, a fuzzy sliding mode active disturbance rejection control(FSMADRC) scheme is proposed for an autonomous underwater vehicle-manipulator system(AUVMS) with a two-link and three-joint manipulator. First, the AUVMS is separated into nine subsystems, and the combined effects of dynamic uncertainties, hydrodynamic force, unknown disturbances, and nonlinear coupling terms on each subsystem are lumped into a single total disturbance. Next, a linear extended state observer(LESO) is presented to estimate the total disturbance. Then, a sliding mode active disturbance rejection control(SMADRC) scheme is proposed to enhance the robustness of the control system. The stability of the SMADRC and the estimation errors of the LESO are analyzed. Because it is difficult to simultaneously adjust several parameters for a LESO-based SMADRC scheme, a fuzzy logic control(FLC) scheme is used to formulate the FSMADRC to determine the appropriate parameters adaptively for practical applications. Finally, two AUVMS tasks are illustrated to test the trajectory tracking performance of the closed-loop system and its ability to reject and attenuate the total disturbance. The simulation results show that the proposed FSMADRC scheme achieves better performance and consume less energy than conventional PID and FLC techniques.
基金Project(61273132)supported by the National Natural Foundation of ChinaProject(20110010010)supported by Higher School Specialized Research Fund for the Doctoral Program,China
文摘A novel control scheme of active disturbance rejection internal model control(ADRIMC) is proposed to improve the anti-interference ability and robustness for the dead-time process. The active anti-interference concept is introduced into the internal model control(IMC) by analyzing the relationship between IMC and disturbance observer control(DOB). Further, a design process of disturbance filter is presented to realize the active anti-interference ability for ADRIMC scheme. The disturbance filter is used to estimate an equivalent disturbance consisting of both external disturbances and internal disturbances caused by model mismatches.Simulation results demonstrate that the proposed method possesses a good disturbance rejection performance, though losing some partial dynamic performance. In other words, the proposed method shows a tradeoff between the dynamic performance and the system robust.
基金supported by the National Natural Science Foundation of China (6197317561973172)Tianjin Natural Science Foundation (19JCZDJC32800)。
文摘This paper proposes a liner active disturbance rejection control(LADRC) method based on the Q-Learning algorithm of reinforcement learning(RL) to control the six-degree-of-freedom motion of an autonomous underwater vehicle(AUV).The number of controllers is increased to realize AUV motion decoupling.At the same time, in order to avoid the oversize of the algorithm, combined with the controlled content, a simplified Q-learning algorithm is constructed to realize the parameter adaptation of the LADRC controller.Finally, through the simulation experiment of the controller with fixed parameters and the controller based on the Q-learning algorithm, the rationality of the simplified algorithm, the effectiveness of parameter adaptation, and the unique advantages of the LADRC controller are verified.
基金supported by the Key program of Beijing Municipal Education Commission(KZ201810011012)National Natural Science Foundation of China(61873005)Support Project of High-level Teachers in Beijing Municipal Universities in the Period of 13th Fiveyear Plan(CIT&TCD201704044)。
文摘Waste water treatment process(WWTP)control has been attracting more and more attention.However,various undesired factors,such as disturbance,uncertainties,and strong nonlinear couplings,propose big challenges to the control of a WWTP.In order to improve the control performance of the closed-loop system and guarantee the discharge requirements of the effluent quality,rather than take the model dependent control approaches,an active disturbance rejection control(ADRC)is utilized.Based on the control signal and system output,a phase optimized ADRC(POADRC)is designed to control the dissolved oxygen and nitrate concentration in a WWTP.The phase advantage of the phase optimized extended state observer(POESO),convergence of the POESO,and stability of the closed-loop system are analyzed from the theoretical point of view.Finally,a commonly accepted benchmark simulation model no.1.(BSM1)is utilized to test the POESO and POADRC.Linear active disturbance rejection control(LADRC)and the suggested proportion-integration(PI)control are taken to make a comparative research.Both system responses and performance index values confirm the advantage of the POADRC over the LADRC and the suggested PI control.Numerical results show that,as a result of the leading phase of the total disturbance estimation,the POESO based POADRC is an effective and promising way to control the dissolved oxygen and nitrate concentration so as to ensure the effluent quality of a WWTP.
文摘Active disturbance rejection controller (ADRC) has good performance in induction motor (IM) control system, but controller parameter is difficult to tune. A method of tuning ADRC parameter by time scale is analyzed. The IM time scale is obtained by theoretical analysis. Combining the relations between scale time and ADRC parameters, ADRC parameter tuning in IM vector control based stator flux oriented is obtained. This parameter tuning method is validated by simulations and it provides a new technique for tuning of ADRC parameters of IM.
基金Sponsored by the China Postdoctoral Science Foundation(Grant No.2014M560255)the Open Research Fund of the State Key Laboratory of Robotics and System(HIT)(Grant No.SKLRS-2013-ZD-05)+1 种基金the Heilongjiang Postdoctoral Found(Grant No.LBH-Z14107)the Special Foundation of Heilongjiang Postdoctoral Science(Grant No.LBH-TZ1609)
文摘The control problem of multiple-flexible-link manipulators( MFLMs) is studied in this paper.The dynamic model of MFLM is derived and separated into two-time scale by utilizing the singular perturbation technique. The active disturbance rejection control( ADRC) is adopted to the slow subsystem to track a desired trajectory. The proposed ADRC structure preshapes the desired trajectory by utilizing the tracking differentiator,estimates the disturbance and internal states with an extended state observer,and guarantees a robust performance by combining a feedback controller with a feedforward term. Two types of feedback controllers are designed,proportional derivative( PD) controller and nonlinear PD( NPD) controller. For the fast subsystem,a fast stabilizing control is designed according to the standard linear quadratic regulator approach. Simulations are performed to evaluate the proposed control scheme.Results show that,compared with the traditional PD controller,the ADRC structure based control scheme has smaller overshot and shorter settling time,suppresses vibration quickly,and is robust to the maneuver speed. In general,the control scheme utilizing ADRC structure and NPD feedback controller shows better performance.
基金Project supported by the National Basic Research Program (973) of China (No. 2006CB705400)the National Natural Science Foun- dation of China (No. 50575200)
文摘The highly nonlinear behavior of the system limits the performance of classical linear proportional and integral (PI) controllers used for hot rolling. An active disturbance rejection controller is proposed in this paper to deal with the nonlinear problem of hydraulic servo system in order to preserve fast response and small overshoot of control system. The active disturbance rejection (ADR) controller is composed of nonlinear tracking differentiator (TD),extended state observer (ESO) and nonlinear feedback (NF) law. An example of the hydraulic edger system case study is investigated to show the effectiveness and robustness of the proposed nonlinear controller,especially,in the circumstance of foreign disturbance and working condition variation,compared with classic PI controller.
基金funded by the National Natural Science Foundation of China(61973175,62073177 and 61973172)South African National Research Foundation(132797)+2 种基金South African National Research Foundation Incentive(114911)Eskom Tertiary Education Support Programme Grant of South AfricaTianjin Research Innovation Project for Postgraduate Students(2021YJSB018,2020YJSB003)。
文摘The high-purity distillation column system is strongly nonlinear and coupled,which makes it difficult to control.Active disturbance rejection control(ADRC)has been widely used in distillation systems,but it has limitations in controlling distillation systems with large time delays since ADRC employs ESO and feedback control law to estimate the total disturbance of the system without considering the large time delays.This paper designs a proportion integral-type active disturbance rejection generalized predictive control(PI-ADRGPC)algorithm to control the distillation column system with large time delay.It replaces the PD controller in ADRC with a proportion integral-type generalized predictive control(PI-GPC),thereby improving the performance of control systems with large time delays.Since the proposed controller has many parameters and is difficult to tune,this paper proposes to use the grey wolf optimization(GWO)to tune these parameters,whose structure can also be used by other intelligent optimization algorithms.The performance of GWO tuned PI-ADRGPC is compared with the control performance of GWO tuned ADRC method,multi-verse optimizer(MVO)tuned PI-ADRGPC and MVO tuned ADRC.The simulation results show that the proposed strategy can track reference well and has a good disturbance rejection performance.
基金supported by the Aviation Science Foundation(2013ZC12004)
文摘Focusing on the three-dimensional guidance problem in case of target maneuvers and response delay of the autopilot, the missile guidance law utilizing active disturbance rejection control (ADRC) is proposed. Based on the nonlinear three-dimensional missile target engagement kinematics, the guidance model is es- tablished, The target acceleration is treated as a disturbance and the dynamics of the autopilot is considered by using a first-order model. A nonlinear continuous robust guidance law is designed by using a cascaded structure ADRC controller. In this method the disturbance is estimated by using the extended state observer (ESO) and compensated during each sampling period. Simulation results show that the proposed cascaded loop structure is a viable solution to the guidance law design and has strong robustness with respect to target maneuvers and response delay of the autopilot.