Robust tuning of a first order reduced Active Disturbance Rejection Controller

Nowak, Paweł; Czeczot, Jacek; Klopot, Tomasz

doi:10.1016/j.conengprac.2018.02.001

Cited by 31 publications

(14 citation statements)

References 34 publications

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“…The operator should have a thorough understanding; otherwise, it is difficult to apply in practice. To solve this issue, the quantitative tuning rule based on frequency-domain specifications was proposed in Reference [35] to satisfy the phase and gain margin for first-order plus time delay system was proposed. However, this method is based on the FOPTD systems and only applicable for lag-dominated plants.…”

Section: The Tuning Methods For Adrcmentioning

confidence: 99%

Optimal Fractional-Order Active Disturbance Rejection Controller Design for PMSM Speed Servo System

Chen

Luo

Peng

et al. 2021

Entropy

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In this paper, a fractional-order active disturbance rejection controller (FOADRC), combining a fractional-order proportional derivative (FOPD) controller and an extended state observer (ESO), is proposed for a permanent magnet synchronous motor (PMSM) speed servo system. The global stable region in the parameter (Kp, Kd, μ)-space corresponding to the observer bandwidth ωo can be obtained by D-decomposition method. To achieve a satisfied tracking and anti-load disturbance performance, an optimal ADRC tuning strategy is proposed. This tuning strategy is applicable to both FOADRC and integer-order active disturbance rejection controller (IOADRC). The tuning method not only meets user-specified frequency-domain indicators but also achieves a time-domain performance index. Simulation and experimental results demonstrate that the proposed FOADRC achieves better speed tracking, and more robustness to external disturbance performances than traditional IOADRC and typical Proportional-Integral- Derivative (PID) controller. For example, the JITAE for speed tracking of the designed FOADRC are less than 52.59% and 55.36% of the JITAE of IOADRC and PID controller, respectively. Besides, the JITAE for anti-load disturbance of the designed FOADRC are less than 17.11% and 52.50% of the JITAE of IOADRC and PID controller, respectively.

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Section: The Tuning Methods For Adrcmentioning

confidence: 99%

Optimal Fractional-Order Active Disturbance Rejection Controller Design for PMSM Speed Servo System

Chen

Luo

Peng

et al. 2021

Entropy

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“…For multivariable chemical process systems, the (RESO) is designed to replace the full order ESO in ADRC and reduce phase lag while maintaining excellent performance with robustness and adaptability to disturbances. In previous works (Nowak et al, 2018;Huang & Xue, 2014), the robust tuning rules have been presented for RADRC with first plus dead time processes. The RESO in RADRC does not appear at the plant output, but only its derivatives and the generalized disturbance.…”

Section: Introductionmentioning

confidence: 99%

Active Disturbance Rejection Control of Wearable Lower-Limb System Based on Reduced ESO

Alawad

Humaidi

Al-Obaidi

et al. 2022

Indonesian J. Sci. Technol

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Wearable robots are commonly used for rehabilitation and they are made to fit the human body to assist persons who are unable to help themselves. The design of controllers became necessary to enhance the dynamic motion of these exoskeleton systems when worn by patients. In this study, active disturbance rejection control (ADRC) with reduced-order extended state observer (RESO) has been proposed for motion control of exoskeleton knee-assisting device to eliminate the phase lag induced by full-order extended state observer (FESO). The design analysis of RESO-based ADRC has been presented and a computer simulation has been conducted to verify the effectiveness of the proposed controller. A comparison study has been made between ADRC based on RESO and that based on FESO in terms of transient and robustness characteristics. The simulated results showed that the RESO-based ADRC gives better transient and load rejection capabilities compared to the controller with FESO.

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“…The main goal in the IDS design is to ensure the desired control quality. There are a lot of studies which deal with the methodology for parametric design of linear robust controllers based on the ICP [1–27]. One should single out root methods that differ from others by their simplicity and visualization [3–6,9,11,13,14,16,17,20,22–25,27].…”

Section: Introductionmentioning

confidence: 99%

Synthesis of a linear controller for a control system with interval parameters on a base of D‐partition in vertices of a coefficient's polyhedron of characteristic polynomial

Gayvoronskiy

Ezangina

2022

Asian Journal of Control

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The article deals with the technique developed for the parametric design of a robust controller which ensures the desired robust quality indicators in the system with interval parameters. This technique is based on the construction of the D‐partition in the space of controller parameters at vertices of the coefficient polyhedron of a characteristic polynomial. Grounds for this are the fact that the interval system has its minimum degree of stability and maximum degree of oscillation at certain vertices of the specified polyhedron. To determine the minimum sets of those vertices, a new technique has been developed. The developed technique is based on inequalities obtained for outlet angles of the edge branches coming out from system poles, which determine the root indices of robust quality. Applying the developed technique for the vertex D‐partition, the design of the PI controller of the stabilization system for a tethered underwater vehicle has been carried out. The results of the design confirm the efficiency of the developed approach.

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Robust tuning of a first order reduced Active Disturbance Rejection Controller

Cited by 31 publications

References 34 publications

Optimal Fractional-Order Active Disturbance Rejection Controller Design for PMSM Speed Servo System

Optimal Fractional-Order Active Disturbance Rejection Controller Design for PMSM Speed Servo System

Active Disturbance Rejection Control of Wearable Lower-Limb System Based on Reduced ESO

Synthesis of a linear controller for a control system with interval parameters on a base of D‐partition in vertices of a coefficient's polyhedron of characteristic polynomial

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