On the tracking of fast trajectories of a 3DOF torsional plant: A flatness based ADRC approach

Abstract

In this article, a highly oscillatory 3 degrees of freedom (DOF) torsional plant is used to demonstrate the effectiveness of the combined differential flatness property and active disturbance rejection control (ADRC) methodology in the output tracking of fast reference trajectory and vibration suppression problems. The controller design is synthesized in the absence of detailed knowledge of the system model, which means that the resonant modes are essentially unknown to the designer. Experimental results confirm that the excellent rest‐to‐rest trajectory tracking performance is attained while permanently attenuating remaining vibrations in all the three disks.

Incipient fault diagnosis on active disturbance rejection control

“…For example, the extended state observer (ESO) in ADRC has been applied to solve system uncertainty [6]. Furthermore, some improvements have been made to the ADRC controller [7]. However, a few research results have been presented on combining ADRC with incipient fault diagnosis; thus, it appears to be a relatively new innovation to the analysis of the incipient fault system with the ADRC strategy.…”

Active vibration control of building structure using active disturbance rejection control

“…Active disturbance rejection control has been studied extensively in the last years. Numerous recent approaches have been developed to address a large variety of academic and industrial problems such as motion control by Zhao and Gao (2013), Sen et al (2019), Hernández-Melgarejo et al (2019), and Touhami et al (2019), power electronics by Wu et al (2017), Huangfu et al (2019), Sun et al (2019), and Zheng and Gao (2018), robotics by Ramírez-Neria et al (2015), Gutiérrez-Giles and Arteaga-Pérez (2019), and Gutiérrez-Giles et al (2019), industrial process by Zheng and Gao (2012), Zheng et al (2018), and Zheng and Gao (2018), vibration suppression by Madonski et al (2019), and underactuated systems by Sira-Ramirez et al (2018) and Ramírez-Neria et al (2020a, 2020b). In previous studies, ADRC has been applied on various types of mechanical systems, showing excellent performance in terms of accuracy, repeatability, energy efficiency, easy implementation, and intuitiveness of each control term.…”

On observability analysis and observer design for a class of nonlinear uncertain systems with general elastic vibration dynamics

“…Considering all kinds of parameter perturbations and disturbances, robust state observer based on H ∞ theory [18], general proportional integral observer (GPIO) [19] and extended state observer (ESO) [20] were introduced to estimate RBM, EVM states and the disturbance/uncertainty online from measured outputs [21,22]. Then, active disturbance rejection control (ADRC) [23][24][25][26][27] was utilized with one degree to be a feedforward compensator to cope with "total disturbance" and the other to make the closed-loop system realize control goal [28]. Nevertheless, the analysis of observability with multiple measured outputs was not considered.…”