ESO Architectures in the Trajectory Tracking ADR Controller for a Mechanical System: A Comparison

Łakomy, Krzysztof; Patelski, Radosław; Pazderski, Dariusz

doi:10.1007/978-3-030-50936-1_110

Cited by 9 publications

(10 citation statements)

References 14 publications

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“…However, since the conventional form of ADRC uses a highgain observer (HGO) structure to estimate selected signals, its capabilities are intrinsically limited by the presence and severity of high-frequency sensor noise, as discussed in [6]- [8]. The high gains of the observer cause the transfer of strongly amplified measurement noise into the control signal calculated upon the state vector of ESO.…”

Section: Introductionmentioning

confidence: 99%

Active Disturbance Rejection Control Design With Suppression of Sensor Noise Effects in Application to DC–DC Buck Power Converter

Łakomy

Madoński

Dai

et al. 2022

IEEE Trans. Ind. Electron.

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The performance of active disturbance rejection control (ADRC) algorithms can be limited in practice by high-frequency measurement noise. In this work, this problem is addressed by transforming the high-gain extended state observer (ESO), which is the inherent element of ADRC, into a new cascade observer structure. Set of experiments, performed on a DC-DC buck power converter system, show that the new cascade ESO design, compared to the conventional approach, effectively suppresses the detrimental effect of sensor noise over-amplification while increasing the estimation/control performance. The proposed design is also analyzed with a low-pass filter at the converter output, which is a common technique for reducing measurement noise in industrial applications.

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Section: Introductionmentioning

confidence: 99%

Active Disturbance Rejection Control Design With Suppression of Sensor Noise Effects in Application to DC–DC Buck Power Converter

Łakomy

Madoński

Dai

et al. 2022

IEEE Trans. Ind. Electron.

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“…where F * ∈ R is the residue of the total disturbance resulting from the imperfect observation of F * by observer (7). The introduction of consecutive cascade level of the observer can be interpreted as an attempt to estimate the total disturbance residue, based on the signals returned on the output of previous cascade level, and its inclusion in the overall estimate of the extended state vector (8).…”

Section: Main Result: Proposed Cascade Eso Adrcmentioning

confidence: 99%

“…However, since the conventional form of ADRC uses a highgain observer (HGO) to estimate selected signals, its capabilities are intrinsically limited by the presence and severity of high-frequency sensor noise, as shown in [6]- [8]. The HGObased ADRC design and tuning often comes down to a forced compromise between speed/accuracy of signals reconstruction and sensitivity to noise [9].…”

mentioning

confidence: 99%

Active Disturbance Rejection Control Design with Suppression of Sensor Noise Effects in Application to DC-DC Buck Power Converter

Łakomy,

Madonski,

Dai

et al. 2020

Preprint

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The class of active disturbance rejection control (ADRC) algorithms has been shown in the literature to be an interesting alternative to standard control methods in power electronics devices. However, their robustness and stability are often limited in practice by the high-frequency measurement noise, common in industrial applications. In this article, this problem is addressed by replacing the conventional high-gain extended state observer (ESO) with a new cascade observer structure. The presented experimental results, performed on a DC-DC buck power converter system, show that the new cascade ESO design has increased estimation/control performance compared to the standard approach, while effectively suppressing the detrimental effect of sensor noise over-amplification.Index Terms-noise suppression, power converter, highgain observer, extended state observer, ADRC I. INTRODUCTIONT HE majority of modern power electronic circuits are supplied with switching-mode power converters, like pulsewidth modulated DC-DC converters. A buck converter, for example, is responsible for stepping down voltage, while stepping up current, from its input (supply) to its output (load). Its relatively high efficiency (often higher than 90%) and low price, makes a buck converter a choice of practitioners in various power systems. With the constant pursuit of technological improvement, finding more effective control methods for power converters is an active research topic.Practically appealing results on buck converter control using the idea of active disturbance rejection control (ADRC) were recently reported in [1]-[3]. Interestingly, some motor control companies attracted by the ADRC-based solutions (e.g. Texas

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“…where For such fully observable system, one can now propose a disturbance observer to reconstruct the information about state vector, including the total disturbance part. One can choose from a spectrum of techniques, surveys of which can be found in [6,28]. Here, and in this work in general, a linear Luenberger-like extended state observer (ESO) is used for its relatively high effectiveness-to-complexity ratio.…”

Section: Disturbance Observer Design and Tuningmentioning

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%

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

Madoński

Łakomy

Yang

2021

Control Theory Technol.

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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.

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ESO Architectures in the Trajectory Tracking ADR Controller for a Mechanical System: A Comparison

Cited by 9 publications

References 14 publications

Active Disturbance Rejection Control Design With Suppression of Sensor Noise Effects in Application to DC–DC Buck Power Converter

Active Disturbance Rejection Control Design With Suppression of Sensor Noise Effects in Application to DC–DC Buck Power Converter

Active Disturbance Rejection Control Design with Suppression of Sensor Noise Effects in Application to DC-DC Buck Power Converter

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

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