Improving the Active Disturbance Rejection Controller Tracking Quality by the Input-Gain Underestimation for a Second-Order Plant

Patelski, Radosław; Pazderski, Dariusz

doi:10.3390/electronics10080907

Cited by 9 publications

(4 citation statements)

References 28 publications

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“…Another possibility is to use a Linear State Observer like a Luenberger Observer with a feedback controller [7]. Due to the wide range of robustness to unknown dynamics, the Active Disturbance Rejection Control (ADRC) has becomes popular [8][9][10][11][12][13]. It consists of an extended state observer, which was successfully applied to many problems [14] and feedback controllers.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of the Model Based Control System for an MRE Axisymmetric Actuator

Czopek,

Bernat

2023

Electronics

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The magnetorheological elastomer membrane is an interesting kind of smart material that is gaining new innovative applications. This work is focused on the design of the control system for magnetorheological elastomer actuators. In general, the plant is characterized by fast oscillations and slow drift. Therefore, controllers utilize the described features to obtain the solution aimed at, which makes them unique. We analyze two approaches based on output feedback with state estimation. The control algorithms have different observers to estimate the state. The first is a Linear Extended State Observer, which is applied to reject the disturbances in a case with a simple model. The second is a Linear State Observer, which is used to estimate a state based on the plant model. Furthermore, in both cases, we have the same proportional-derivative controller after decoupling the dynamics. The main goal of the paper is to examine both controllers for the magnetorheological actuator. Therefore, the designed control systems are verified in a series of experiments.

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Section: Introductionmentioning

confidence: 99%

Design and Analysis of the Model Based Control System for an MRE Axisymmetric Actuator

Czopek,

Bernat

2023

Electronics

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“…The ADRC, proposed by Han [16], as a nonlinear control method with superior performance, are preferred for a wide application in industrial technical fields [17][18][19][20][21].…”

Section: Introductionmentioning

confidence: 99%

“…To solve the output tracking problem of multi-input multi-output (MIMO) system with mismatched uncertainty effectively, a novel nonlinear ESO using nonsmoothed function [19] is designed to estimate both state of system and uncertain disturbance. In [20], the influence of inputgain uncertainty on tracking performance of ADRC is investigated based on a second-order plant. The results show that when the input gain is multiplied by a positive factor less than a certain threshold, the closed-loop system remains stable and the tracking error is reduced.…”

Section: Introductionmentioning

confidence: 99%

Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer

Zhang

Wang

et al. 2021

Electronics

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Friction nonlinear disturbance is one of the main factors affecting the control performance of servo tracking system. In this paper, an improved Active Disturbance Rejection Control (ADRC) scheme of dual-axis servo turntable is researched to achieve accurate tracking. Firstly, the mathematical dynamics model of dual-axis servo tracking turntable system is established. The Elastoplastic model is used to describe nonlinear friction, in which the immeasurable part is extended to be a new state. Secondly, considering the smooth and monotonic increasing property of hyperbolic tangent function, an improved tracking differentiator is introduced, which can provide better noise attenuation performance. Thirdly, based on adjustable parameter systematic pole placement method, the fuzzy control algorithm is applied to realize the intelligent tuning of the improved Extended State Observer (ESO) gains, in which the input of the fuzzy controller is the estimation error, while the output is the observer bandwidth. Finally, the improved ADRC system is transformed into a Lurie system, then the extended circle criteria are adopted to analyze the absolute stability of the proposed system. Simulation and experimental verification of the improved ADRC method for the dual-axis turntable tracking servo system are conducted. Results illustrate the effectiveness and robustness of the proposed controller.

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“…The active disturbance rejection control (ADRC) theory and methods do not rely heavily on the controlled object's mathematical model [38,39], so the ADRC can solve the control problem of uncertainty well [40][41][42]. Sun, et al [43] used the ADRC method to control the open cathode proton exchange membrane fuel cell.…”

Section: Introductionmentioning

confidence: 99%

Research on the Hoisting Motor Drive System’s Active Disturbance Rejection Control and Energy Consumption for a Crane

Zhong

Ma²,

Hao

et al. 2021

IEEE Access

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To allow the hoisting motor drive system of a crane to track a load torque quickly, a linearization method was used to transform a motor nominal dynamics model into two decoupled linear rotor speed and flux linkage subsystems. The method based on the theory of differential geometry was a precise feedback method. Two active disturbance rejection controllers (ADRCs) with identical structures were designed for the rotor speed and flux linkage subsystems. The extended state observer of the ADRC could estimate the unmodeled dynamics of the motor, the variation of motor parameters due to heating, and the unknown disturbances of the motor system to determine the total disturbances of the system. A closed-loop system with ADRC and an open-loop system were compared. The motor's full-load starting time was reduced by about 50%. When the motor operated smoothly at different load rates and the rated load was suddenly applied, the electromagnetic torque fluctuation range did not exceed 20 N• m. The rotor flux was always stable at the reference value. The motor speed decreased, but the amount of decrease did not exceed 7 rad/s. The closed-loop system had a significant energy-saving effect during the motor's starting process. The power saving rate was about 55%-59% if the motor started with a light load. The power saving rate could reach 71% if the motor started with a heavy load. The ADRC system could accurately estimate the unknown model of the rotor speed and flux linkage subsystems, and adapt to parameter variations of the motor stator and rotor resistance in the range of ±10%. Motor: Te, TL Electromagnetic and load torques. TN Nominal torque. ET Electromagnetic torque tracking error. np Motor's pole logarithm. Je Rotational inertia of the rotor. n Rotor speed. ω Electric angular velocity. ωr Mechanical angular velocity. α, β Static two-phase coordinate axis.

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Improving the Active Disturbance Rejection Controller Tracking Quality by the Input-Gain Underestimation for a Second-Order Plant

Cited by 9 publications

References 28 publications

Design and Analysis of the Model Based Control System for an MRE Axisymmetric Actuator

Design and Analysis of the Model Based Control System for an MRE Axisymmetric Actuator

Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer

Research on the Hoisting Motor Drive System’s Active Disturbance Rejection Control and Energy Consumption for a Crane

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