A new extended state observer for uncertain nonlinear systems

Ran, Maopeng; Li, Juncheng; Xie, Lihua

doi:10.1016/j.automatica.2021.109772

Cited by 80 publications

(36 citation statements)

References 17 publications

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“…Although many methods can be used within the observer structure to address this issue (e.g. [42,43]), here a method is utilized that deals with the peaking by temporarily disabling the control action at the beginning of the control process (meaning the control signal is being calculated but not applied to the controlled plant), allowing the peaking to simply pass. Such approach has been successfully used in [30,32].…”

Section: Anti-peakingmentioning

confidence: 99%

“…Here, similarly to Remark (8) discussing the control signal saturation, the use of anti-peaking mechanism (19) in the considered ADRC algorithm makes it inconsistent with Lemmas 1 and 2 (both derived for the case without anti-peaking). The theoretical ramifications of this has been studied before, for example in [43,42], and it was shown that, under certain conditions, relatively easy to satisfy in practice, the stability of the system can be retained.…”

Section: Anti-peakingmentioning

confidence: 99%

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Active Disturbance Rejection Control (ADRC) Toolbox for MATLAB/Simulink

Giernacki¹,

Łakomy²,

Michalski³

et al. 2021

Preprint

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In this paper, an active disturbance rejection control (ADRC) toolbox for MAT-LAB/Simulink is introduced. Although ADRC has already been established as a powerful robust control framework with successful industrial implementations and strong theoretical foundations, a comprehensive tool for computer-aided design of ADRC has not been developed until now. The proposed ADRC Toolbox is a response to a growing need of both scientific community and control industry looking for a straightforward software utilization of the ADRC methodology. Its main purpose is to fill the gap between current theories and applications of ADRC and to provide an easy-to-use solution to users in various control fields wanting to employ the ADRC scheme in their applications. The ADRC Toolbox contains a single, general-purpose, drag-and-drop function block allowing to synthesize a predefined ADRC-based strategy with minimal design effort. Its efficacy is validated here in both simulations and hardware experiments, conducted using a variety of problems known from motion, process, and power control areas. The proposed ADRC Toolbox is an open-source project 1 .

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Section: Anti-peakingmentioning

confidence: 99%

Section: Anti-peakingmentioning

confidence: 99%

Active Disturbance Rejection Control (ADRC) Toolbox for MATLAB/Simulink

Giernacki¹,

Łakomy²,

Michalski³

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…Nonetheless, it is well known that the conventional ESO has several drawbacks, such as the peaking phenomenon that can cause serious stability deterioration of the overall system [20], and its trade-off between the speed of estimation and insensitivity to measurement noise [21]. Many researchers have introduced solutions to decreasing the magnitude of peaking and ensuring the robustness to measurement noise [22]- [24]. In [24], Ran et al proposed a new ESO that was effective in lessening the peaking issue and had improved sensitivity to measurement noise.…”

Section: Introductionmentioning

confidence: 99%

“…Many researchers have introduced solutions to decreasing the magnitude of peaking and ensuring the robustness to measurement noise [22]- [24]. In [24], Ran et al proposed a new ESO that was effective in lessening the peaking issue and had improved sensitivity to measurement noise. Thus, given the significant benefits mentioned above, in this study a NFTSMC and an ESO [24] are applied in a FTC scheme to considerably improve its performance regardless of the presence of faults in the SP.…”

Section: Introductionmentioning

confidence: 99%

Finite-Time Fault-Tolerant Control for a Stewart Platform Using Sliding Mode Control With Improved Reaching Law

2022

IEEE Access

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In this paper, a fault-tolerant control (FTC) is proposed for a nonlinear system as a Stewart platform (SP). To reject the singularity issue of a traditional fast terminal sliding mode control (FTSMC) and to have a fast finite-time convergence, a nonsingular fast terminal sliding mode control (NFTSMC) is used. In addition, an extended state observer (ESO) is applied for the control scheme to estimate uncertainties, disturbances, and faults. To increase the convergence speed and alleviate the chattering phenomenon, a novel reaching law is proposed which gives the system a quick reaching speed. Finally, a novel FTC that ensures robustness to disturbances and faults is developed based on the NFTSMC, the ESO, and the proposed reaching law. Consequently, the proposed FTC has outstanding features such as high tracking performance, a decrease of the effects of disturbances and faults, a fast convergence speed in finite time, and less chattering. The simulation and experiment results demonstrate the efficiency of the proposed FTC compared to other control schemes.INDEX TERMS Fault tolerant control, Sliding mode control, Reaching law, Extended state observer, Stewart platform.

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“…Transient performance was analyzed for a non‐linear uncertain system with a PI controller [14]. Appropriate non‐linear gain mechanisms were adopted to improve the performance in measurement noise tolerance [15]. See [16] for more research results.…”

Section: Introductionmentioning

confidence: 99%

Robust control of pantograph‐catenary system: Comparison of 1‐DOF‐based and 2‐DOF‐based control systems

Liu

et al. 2021

IET Control Theory & Appl

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Compared to control bandwidth, low-frequency uncertainties or disturbances like step signals can be well rejected by many methods having two-degree-of-freedom (2-DOF). Due to robustness constraint, technically more challenging is the rejection of medium frequencies, especially for bandwidth-limited systems. Here, the equivalent-input-disturbance (EID) approach is extended to deal with the main medium-frequency oscillation of a pantograph-catenary system. First, a general EID estimator is developed with a lowfrequency estimator as a special case. Then, a fair comparison is conducted to clarify the essential differences between the conventional 1-DOF-based and the developed 2-DOFbased control systems. Furthermore, a robust stability condition is derived for the 2-DOFbased closed-loop control system. A design algorithm together with design guidelines is provided, where the frequency characteristics of the uncertainties are utilized in the parameter design. Finally, simulations are carried out to validate the developed 2-DOF-based method for the pantograph-catenary system in realistic environment.

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A new extended state observer for uncertain nonlinear systems

Cited by 80 publications

References 17 publications

Active Disturbance Rejection Control (ADRC) Toolbox for MATLAB/Simulink

Active Disturbance Rejection Control (ADRC) Toolbox for MATLAB/Simulink

Finite-Time Fault-Tolerant Control for a Stewart Platform Using Sliding Mode Control With Improved Reaching Law

Robust control of pantograph‐catenary system: Comparison of 1‐DOF‐based and 2‐DOF‐based control systems

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