Cascade extended state observer for active disturbance rejection control applications under measurement noise

Łakomy, Krzysztof; Madoński, Rafał

doi:10.1016/j.isatra.2020.09.007

Cited by 106 publications

(42 citation statements)

References 42 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…(d) The scalability of ADRC scheme is retained in its error-based modification as one can easily change the observer from linear ESO (26) to a different one to address certain disadvantages of current design (like the limited disturbance reconstruction capabilities seen in ExpD and its potential remedy in SimD in form of inclusion of higher-order disturbance model). Further improvement in quality could also be possibly obtained by modifications in the controller and/or observer structure (e.g., utilization of noise suppressing observers [25,26] or reduced-order observers [18]).…”

Section: Discussionmentioning

confidence: 99%

“…The error-based ADRC has been successfully applied by now to a variety of control problems including mechanical vibration compensation [21,22], robotic manipulator control [23,24], observer design with suppression of sensor noise [25][26][27], position control of a telescope mount [28], UAV control [29,30], as well as power electronics control [31,32].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Simplifying ADRC design with error-based framework: case study of a DC–DC buck power converter

Madoński

Łakomy

Yang

2021

Control Theory Technol.

Self Cite

View full text Add to dashboard Cite

In this work, the problem of designing a robust control algorithm for a DC-DC buck power converter is investigated. The applied solution is based on a recently proposed error-based version of the active disturbance rejection control (ADRC) scheme, in which the unknown higher-order terms of the reference signal are treated as additional components of the system "total disturbance". The motivation here is to provide a practical following of a reference voltage trajectory for the buck converter in specific cases where neither the analytical form of the desired signal nor its future values are known a'priori, hence cannot be directly used for control synthesis. In this work, the application of the error-based ADRC results in a practically appealing control technique, with compact structure, simplified control rule, and intuitive tuning (inherited from the conventional output-based ADRC scheme). Theoretical, numerical, and experimental results are shown to validate the efficacy of the error-based ADRC in buck converter control, followed by a discussion about the revealed theoretical and practical limitations of this approach.

show abstract

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Simplifying ADRC design with error-based framework: case study of a DC–DC buck power converter

Madoński

Łakomy

Yang

2021

Control Theory Technol.

Self Cite

View full text Add to dashboard Cite

show abstract

“…The dynamics studied are similar to many other physical processes. For example, diesel engine control, air-fuel ratio control in gasoline engines, control of DC-DC converters, continuous stirred tank reactors (CSTR), or micro-electro-mechanical systems (MEMS) [1][2][3][4][5][6][7][8][9]), to name a few.…”

Section: Introductionmentioning

confidence: 99%

A Set of Active Disturbance Rejection Controllers Based on Integrator Plus Dead-Time Models

et al. 2021

View full text Add to dashboard Cite

The paper develops and investigates a novel set of constrained-output robust controllers with selectable response smoothing degree designed for an integrator-plus-dead-time (IPDT) plant model. The input-output response of the IPDT system is internally approximated by several time-delayed, possibly higher-order plant models of increasing complexity. Since they all contain a single integrator, the presented approach can be considered as a generalization of active disturbance rejection control (ADRC). Due to the input/output model used, the controller commissioning can be based on a simplified process modeling, similar to the one proposed by Ziegler and Nichols. This allows it to be compared with several alternative controllers commonly used in practice. Its main advantage is simplicity, since it uses only two identified process parameters, even when dealing with more complex systems with distributed parameters. The proposed set of controllers with increasing complexity includes the stabilizing proportional (P), proportional-derivative (PD), or proportional-derivative-acceleration (PDA) controllers. These controllers can be complemented by extended state observers (ESO) for the reconstruction of all required state variables and non-measurable input disturbances, which also cover imperfections of a simplified plant modeling. A holistic performance evaluation on a laboratory heat transfer plant shows interesting results from the point of view of the optimal least sensitive solution with smooth input and output.

show abstract

“…This structure allows simple solutions for trajectory tracking in a class of nonlinear underactuated systems but the locally of the solution needs to be overcome in order to find a suitable practical methodology [19], [20]. Other benefits of the cascade structure allows to enhance the high gain extended state observer based designs through lower gain tuning schemes (see [21])…”

Section: Introductionmentioning

confidence: 99%

Active Disturbance Rejection Control for Reference Trajectory Tracking Tasks in the Pendubot System

et al. 2021

View full text Add to dashboard Cite

In this article, an Extended State Observer (ESO) based Active Disturbance Rejection Control (ADRC) scheme is applied to the Pendubot system for a trajectory tracking tasks. The tangent linearization of the system allows to implement the control scheme taking advantage of the differential flatness property, while including a cascade configuration. The proposed method assumes a limited knowledge of the underactuated system where the control input gain and the order of the system are the only needed data. The scheme is experimentally tested leading to accurate tracking results.

show abstract

Cascade extended state observer for active disturbance rejection control applications under measurement noise

Cited by 106 publications

References 42 publications

Simplifying ADRC design with error-based framework: case study of a DC–DC buck power converter

Simplifying ADRC design with error-based framework: case study of a DC–DC buck power converter

A Set of Active Disturbance Rejection Controllers Based on Integrator Plus Dead-Time Models

Active Disturbance Rejection Control for Reference Trajectory Tracking Tasks in the Pendubot System

Contact Info

Product

Resources

About