On the stability of ADRC for manipulators with modelling uncertainties

Patelski, Radosław; Dutkiewicz, P.

doi:10.1016/j.isatra.2020.02.027

Cited by 52 publications

(23 citation statements)

References 17 publications

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“…For a closed-loop system, disturbance rejection ability is usually evaluated by dynamic stiffness, which can be obtained by adopting numerical solution. According to (3), by assuming G p (s) = G s (s)/Js, the following can be derived (see details in appendix B) Based on (17), block diagram of the nonlinear ADRC which originally depicted in Fig. 2 can be converted and shown in Fig.…”

Section: A Disturbance Rejection Ability Analysismentioning

confidence: 99%

“…In recent years, theoretical studies on ADRC have drawn many attentions. Some of the achievements are rather prominent, such as the stability analysis with boundary disturbance and modelling uncertainties [15]- [17], the frequency-domain analysis [18], [19], the capability analysis of the extended state observer for nonlinear systems [20], [21], to name a few. Meanwhile, by combining ADRC with specific algorithms, such as fractional order control algorithm, intelligent algorithm, sliding mode control algorithm, the differential flatness theory, the performances of ADRC have been improved to a large extent [22]- [25].…”

Section: Introductionmentioning

confidence: 99%

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Modified ADRC for Inertial Stabilized Platform With Corrected Disturbance Compensation and Improved Speed Observer

Xia

Shi³

et al. 2020

IEEE Access

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In this article, a modified scheme of nonlinear active disturbance rejection control (ADRC) is proposed by correcting the disturbance compensation and improving the speed observer. The stability, disturbance rejection and tracking performance of the modified ADRC scheme are analyzed and compared with that of the typical ADRC scheme utilizing the describing function method and numerical method, which shows that the dynamic stiffness and tracking performance are significantly improved while the stability almost remains invariant. Both the simulations and experiments are conducted in inertial stabilized platform (ISP) control system. It turns out that the simulation and experimental results further support the analysis. INDEX TERMS Active disturbance rejection control (ADRC), describing function method, inertial stabilized platform (ISP), speed observer.

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Section: A Disturbance Rejection Ability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Modified ADRC for Inertial Stabilized Platform With Corrected Disturbance Compensation and Improved Speed Observer

Xia

Shi³

et al. 2020

IEEE Access

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“…The classical differentiator can solve the problem that position signals haven't derivation when there are signal noise [25] [26], but it magnifies signal noise many times. Tracking differentials [27] [28] are used to extract velocity signals, it has a certain inhibitory effect on signal noise. But there are at least 4 parameters that need to be debugged and phase delay.…”

Section: Introductionmentioning

confidence: 99%

Disturbance Rejection Control Using a Novel Velocity Fusion Estimation Method for Levitation Control Systems

Xia

Dou

2020

IEEE Access

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Magnetic levitation has been applied to maglev trains and magnetic suspension wind tunnel. However, there are some problems with the existing levitation control. For example, it is difficult to extract smooth velocity signals from the gap sensor with noise. The classical differentiator is susceptible to noise, which makes the levitation system sometimes vibrate. The accuracy and stability of levitation control need to be improved. The velocity fusion estimation method (VFE) is proposed to extract the velocity signal from the gap and acceleration sensor, which is theoretically derived to prove that it reduced the noise of the velocity signal. Then disturbance rejection control(DRC) is proposed that add VFE into classical levitation control. Because of the high-quality velocity signal and accelerometer's fast responsiveness, it makes DRC have many advantages. The advantages of using the proposed control structure are that it improved the control accuracy of the target gap and resisted disturbance effectively. Air-gap fluctuations in levitation systems can be reduced in transient pulse disturbance test, white noise disturbance test, and external force disturbance test when it applies the proposed control method. The effectiveness and advantages of the proposed control method are verified by the simulation and experiments.

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“…Esta variação pode ocorrer por vários motivos: envelhecimento de componentes, mudança de características estruturais durante sua operação, variação de massa/carga, falta de conhecimento exato dos valores, por imperfeições na modelagem, dentre outras. Neste contexto, várias estratégias de controle robusto têm sido reportadas na literatura para solucionar o problema, com garantidas propriedades de estabilidade e convergência em malha fechada (Wu et al, 2018;Xia et al, 2018;Patelski and Dutkiewicz, 2020). O método de Controle com Rejeição Ativa de Distúrbios (do inglês, Active Disturbance Rejection Control-ADRC) está entre estas várias estratégias propostas, e será explorada neste artigo sob um paradigma diferenciado da teoria convencional (Madoński et al, 2015;Zuo et al, 2018;Meng et al, 2019).…”

Section: Introductionunclassified

“…A mudança de paradigma ADRC proposta no presente trabalho consiste em modificar a estrutura do ESO para projetar o sinal da lei de controle utilizando apenas umá unica estimativa do observador. Esta característica particular do método proposto contrasta com a abordagem ADRC tradicional, na qual a lei de controleé formada via uma parametrização linear nos estados estimados pelo ESO (Sun et al, 2016b,a;Wu et al, 2018;Xia et al, 2018;Patelski and Dutkiewicz, 2020). Para facilitar o entendimento do método proposto e suas características, este trabalho discute a aplicação do mesmo em plantas de segunda ordem.…”

Section: Introductionunclassified

Controle de Sistemas Incertos via Método ADRC - Um novo Paradigma

Gouvêa

Vasconcellos

Zachi

2020

Anais Do Congresso Brasileiro De Automática 2020

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Este artigo trata do problema de controle robusto de sistemas não lineares incertos pelo método de Controle com Rejeição Ativa de Distúrbios (ADRC). A escolha do método se dá por conta de sua conhecida propriedade de robustez contra incertezas paramétricas e dinâmicas não modeladas do sistema. Embora já tenham sido reportadas algumas variantes deste método de controle, a abordagem deste artigo se concentra na versão linear do mesmo conhecida pelo termo LADRC (Linear ADRC). Contudo, uma característica comum a todas as variantes deste método é a utilização de um observador estendido para estimar os estados e os sinais não mensuráveis da planta, para alimentar uma lei de controle por realimentação de estados parametrizada. A mudança de paradigma ADRC proposta no presente trabalho consiste em modificar a estrutura do observador estendido para projetar o sinal da lei de controle utilizando apenas uma única estimativa do observador. Apesar da modificação proposta, demonstra-se que as propriedades de estabilidade e convergência resultantes são equivalentes às do paradigma ADRC tradicional. O desempenho do controlador é ilustrado por simulação numérica.

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On the stability of ADRC for manipulators with modelling uncertainties

Cited by 52 publications

References 17 publications

Modified ADRC for Inertial Stabilized Platform With Corrected Disturbance Compensation and Improved Speed Observer

Modified ADRC for Inertial Stabilized Platform With Corrected Disturbance Compensation and Improved Speed Observer

Disturbance Rejection Control Using a Novel Velocity Fusion Estimation Method for Levitation Control Systems

Controle de Sistemas Incertos via Método ADRC - Um novo Paradigma

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