Search

Aiming at the oscillation caused by the hydraulic cylinder of independent metering system (IMS) running between multiple working quadrants, a novel multiple quadrants switching displacement tracking control strategy is proposed in this paper. In this control strategy, both the cylinder chamber pressure under resistance and overrunning conditions are controlled by the inlet valve, and the outlet valve is utilized to control the displacement of cylinder. This method allows the hydraulic cylinder to always run in energy-efficient. When the working quadrant changes, the valve's working modes are unchanged, which avoids oscillation caused by changes of valves working modes in principle. And a reduced-order active disturbance rejective displacement controller and an active disturbance rejective pressure controller are designed to get high-precision tracking of the displacement and pressure. Numerous experimental results show that the proposed method is reasonable and effective, hydraulic cylinder operates smoothly between multiple quadrants, the pressure and displacement controllers have good anti-interference ability and robustness, and the energy consumption can be reduced by more than 23% compared to the traditional constant pressure valve control system., (© 2024. The Author(s).)

This paper proposed a new method for maximum power point tracking in photovoltaic power generation systems by combining super-twisting sliding mode control and active disturbance rejection method. An incremental guidance method is used to find the point of maximum power. The non-linear extended state observer is applied to estimate the unmodeled dynamics and external disturbance. The ADRC based on a super-twisting sliding mode is designed to bring the state variables to the desired state. In the next step, the stability of NESO and ADRC are theoretically proved. Finally, the simulation results have been compared with the results of the PI controller, classical sliding mode control, and terminal sliding mode control (TSMC) presented in other articles. The results show the effectiveness and superiority of the proposed method. Also, to check the performance of the proposal method in real-time, real-time results have been compared with non-real-time results. The results obtained from the real-time and non-real-time simulations exhibited a minimal difference. This fact indicates the high accuracy of the modeling and simulations performed. Indeed, the mathematical models and non-real-time simulations have been able to accurately mimic the actual behavior of the photovoltaic system under various operating conditions., Competing Interests: The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (© 2024 The Authors.)

This study presents a novel hybrid control strategy for single-link flexible-joint robot manipulators, addressing inherent uncertainties and nonlinear dynamics. By integrating nonlinear reduced-order active disturbance rejection control (NRADRC) with backstepping control, the proposed method effectively estimates and mitigates nonlinear dynamics and external disturbances. Utilizing a nonlinear reduced-order extended state observer (NRESO) enhances resilience to internal and external uncertainties. The global stability of the proposed controller is rigorously established using the Lyapunov approach. Numerical comparisons with state-of-the-art nonlinear control methods demonstrate the superior efficiency and robustness of the proposed approach, especially under varying payloads and disturbances, advancing robotic control solutions., Competing Interests: Declaration of competing interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2024 The Author(s). Published by Elsevier Ltd.. All rights reserved.)

This paper presents the equivalence between generalized proportional integral observer (GPIO) and disturbance observer (DOB), which is applicable to reduced-order GPIO (ROGPIO), full-order GPIO (FOGPIO), and extended state observer (ESO). From this equivalence, established in frequency-domain, comprehensive analyses are performed regarding the influence of the system order, the number of extended states, the uncertain control gain, and the tuning method on the robustness and performance of GPIO. In addition, the equivalence allows a detailed comparison between ROGPIO and FOGPIO in the active disturbance rejection control (ADRC) framework. Finally, experimental validation of the main results is presented for the study case of a synchronous buck converter., Competing Interests: Declaration of Competing Interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2022 ISA. Published by Elsevier Ltd. All rights reserved.)

To combine the advantages of linear active disturbance rejection control (LADRC) and nonlinear active disturbance rejection control (NLADRC) and improve the contradiction between the response speed and control precision caused by the limitation of parameter α in NLADRC, a linear-nonlinear switching active disturbance rejection control (SADRC) strategy based on linear-nonlinear switching extended state observer (SESO) and linear-nonlinear switching state error feedback control law (SSEF) is proposed in this paper. First, the reasons for the performance differences between LADRC and NLADRC are analysed from a theoretical point of view, then a linear-nonlinear switching function (SF) that can change the switching point by adjusting its parameters is constructed and then propose SESO and SSEF based on this function. Subsequently, the convergence range of the observation error of the SESO is derived, and the stability of the closed-loop system with the application of SSEF is also demonstrated. Finally, the proposed SADRC control strategy is applied to a 707 W permanent magnet synchronous motor (PMSM) experimental platform, and both the dynamic and static characteristics of SADRC are verified. The experimental results show that the proposed SADRC control strategy can well combine the performance advantages of LADRC and NLADRC and can better balance the response speed and control precision and has a better capacity for disturbance rejection, which has potential application in engineering practise.

Active Disturbance Rejection Control (ADRC) emerges as a promising control method that can effectively handle uncertainties and disturbances. However, many model-based ADRC tuning methods turn laborious to achieve satisfactory control performance, when the critical process parameters are difficult to accurately obtain, especially the time delay information. To this end, this paper aims to propose a data-driven iterative tuning method for time-delayed ADRC (TD-ADRC). Based on parameter scaling technique, the quantitative correlation among control performance, robustness and normalized controller parameters are investigated. It is then used to design robust nominal controller. Then, based on the TD-ADRC inner-loop equivalent structure, an iterative feedback tuning (IFT) method is proposed to optimally obtain the nominal first order plus time delay (FOPTD) process model. Its unbiasedness and convergence are also described. With the empirical relations and the IFT stochastic approximation algorithm, a data-driven iterative tuning method for TA-ADRC is proposed, which allows a reasonable trade-off between system performance and robustness. Simulation results validate the efficacy of the proposed method, and a water-tank control experiment depicts a promising prospect in control practice., Competing Interests: Declaration of Competing Interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2021. Published by Elsevier Ltd.)

The paper presents a stability analysis of a closed-loop system with an active disturbance rejection control (ADRC) algorithm and a reduced-order extended state observer (RESO). The controller is designed for first-order plus delay time processes, and one of the input signals to the RESO is delayed to compensate for the effect of the system delay. If the process delay is known, perfect synchronization between the observer input signals can be achieved. In a more realistic case, the process delay is not precisely known, and the resulting imperfect synchronization may lead to instability of the closed-loop system. The perfect synchronization case shows that the closed-loop system can be stabilized for any delay. For the imperfect synchronization case, delay-dependent stability conditions are derived for a simple tuning method., Competing Interests: Declaration of Competing Interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2021 ISA. Published by Elsevier Ltd. All rights reserved.)

The main steam temperature of boiler outlet has been deemed as a significant parameter of the safety and economic performances in the thermal power plant operation. The complex working status of the thermal generation endures highly uncertain factors and remarkable disturbance, which call for effective controlling approaches in the corresponding temperature management. The linear active disturbance rejection controller (LADRC) is a conducive and powerful controlling method, whereas strong correlation between LADRC parameters leads to difficulties in optimally determining the controller parameters. Aiming at eliminating the negative effects on main steam temperature control caused by uncertainties factors and disturbances, a high performance LADRC based on a novel parameters optimization strategy, the simultaneous heat transfer search (SHTS) algorithm, is designed to deliver a stability, rapidity, and precision of control process. In the presented SHTS algorithm, all the three phases of heat transfer are randomly and parallel operated, providing a significant improvement towards the optimization performance. The proposed algorithm is first verified on various benchmark functions contrasted to state-of-the-art counterparts in performance validating, and then adopted in the parameter selection of LADRC in the main steam temperature control system. The excellent control performance, strong robustness and disturbance rejection ability of the designed approach are illustrated through the simulation results on main steam temperature control system., Competing Interests: Declaration of Competing Interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2021 ISA. Published by Elsevier Ltd. All rights reserved.)

The positioning accuracy and speed stability of the brushless DC motor (BLDC motor), as the drive element of the optomechanically scanned system (OMSS), are closely interrelated to the final imaging quality of the system. Active disturbance rejection control (ADRC) with strong anti-interference ability, fast response and good robustness is one of the extensively used control strategies. However, the performance of ADRC working in a complicated environment will be limited due to the controller structure, parameter tuning and the influence of multi-source nonlinear disturbance. Therefore, an improved ADRC method is proposed, which can switch between 'point-to-point control mode' and 'stable speed control mode' according to the system requirements. To further suppress the torque ripple and improve the control performance of the system, an improved harmonic injection scheme is added, and the parameters of improved ADRC are tuned by a slime mould algorithm based on a Levy flight operator (LF-SMA). The stability of the proposed ADRC is proved by Lyapunov stability theory. The experimental results show that the proposed control scheme could be available to reduce the torque ripple of the system.

In vascular interventional surgery, surgeons operate guidewires and catheters to diagnose and treat patients with the assistance of the digital subtraction angiography (DSA). Therefore, the surgeon will be exposed to X-rays for extended periods. To protect the surgeon, the development of a robot-assisted surgical system is of great significance. The displacement tracking accuracy is the most important issue to be considered in the development of the system. In this study, the active disturbance rejection control (ADRC) method is applied to guarantee displacement tracking accuracy. First, the core contents of the proportional-integral-derivative (PID) and ADRC methods are analyzed. Second, comparative evaluation experiments for incremental PID and ADRC methods are presented. The results show that the ADRC method has better performance of than that of the incremental PID method. Finally, the calibration experiments for the ADRC control method are implemented using the master-slave robotic system. These experiments demonstrate that the maximum tracking error is 0.87 mm using the ADRC method, effectively guaranteeing surgical safety.

With high penetration of renewable energy sources in nested multiple-microgrids, conventional solutions for the integration of load frequency control and economic dispatch may degrade frequency control performance and decrease operational economy. In this paper, a fast frequency recovery-oriented distributed optimal control strategy is proposed to deal with these problems. Firstly, a partial primal-dual gradient algorithm is dynamically integrated with an active disturbance rejection control algorithm (instead of conventional Proportional-Integral (PI) controller) to realize the fast frequency recovery and enhance anti-disturbance capability. As a result, frequent adjustments of resources can be avoided and this is crucial in extending the life cycles of batteries. Then, based on the above integration, the distributed optimal control law is derived, which is independent of load measurement and fully distributed, to coordinate the microgrids to share their power economically during the frequency regulation process. This can also relieve the communication and computation burden of the system. Finally, a set of numerical simulations is presented and the effectiveness of the proposed distributed optimal control is verified by the obtained results, which include a comparison with the conventional distributed PI-based optimal control strategy., Competing Interests: Declaration of Competing Interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2020. Published by Elsevier Ltd.)

A control strategy combining generalized active disturbance rejection control (GADRC) with Smith predictor (SP) is investigated for time-delayed systems. It takes all available model information into consideration, including the plant dynamic and the time delay, thus inherits the advantages of both SP-ADRC and GADRC. Since SP-GADRC can be transformed into a two-degree-of-freedom (TDF) feedback control structure, it is simply interpreted and tuned through the equivalent TDF internal model control (TDF-IMC) by using the delay-free part of the system as the nominal model for the IMC design and selecting the bandwidths of controller and extended state observer (ESO) for SP-GADRC as the inverse of the time constants of the setpoint filter and the disturbance-rejection filter in IMC, respectively. The analysis and tuning is of tutorial value for practitioners and engineers, and the effectiveness is validated by a few comparative simulations., Competing Interests: Declaration of Competing Interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2019 ISA. Published by Elsevier Ltd. All rights reserved.)

In this paper, a generalized predictor based control scheme is proposed to improve system performance of set-point tracking and disturbance rejection for non-minimum phase (NMP) systems. By using a generalized predictor to estimate the system output without time delay, a model-based extended state observer (MESO) is designed to simultaneously estimate the system state and disturbance. Accordingly, an active disturbance rejection control design is developed which consists of a state feedback control and a feedforward control for the disturbance rejection. The MESO and feedback controllers are analytically derived by specifying the desired characteristic roots of MESO and closed-loop system poles, respectively. To improve the output tracking performance, a pre-filter is designed based on a desired closed-loop transfer function for the set-point tracking. A sufficient condition guaranteeing robust stability of the closed-loop system against time-varying uncertainties is established in terms of linear matrix inequalities (LMIs). Three illustrative examples from the literature are used to demonstrate the effectiveness and merit of the proposed control scheme., (Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.)

Since motion control plant (y (n) =f(⋅)+d) was repeatedly used to exemplify how active disturbance rejection control (ADRC) works when it was proposed, the integral chain system subject to matched disturbances is always regarded as a canonical form and even misconstrued as the only form that ADRC is applicable to. In this paper, a systematic approach is first presented to apply ADRC to a generic nonlinear uncertain system with mismatched disturbances and a robust output feedback autopilot for an airbreathing hypersonic vehicle (AHV) is devised based on that. The key idea is to employ the feedback linearization (FL) and equivalent input disturbance (EID) technique to decouple nonlinear uncertain system into several subsystems in canonical form, thus it would be much easy to directly design classical/improved linear/nonlinear ADRC controller for each subsystem. It is noticed that all disturbances are taken into account when implementing FL rather than just omitting that in previous research, which greatly enhances controllers' robustness against external disturbances. For autopilot design, ADRC strategy enables precise tracking for velocity and altitude reference command in the presence of severe parametric perturbations and atmospheric disturbances only using measurable output information. Bounded-input-bounded-output (BIBO) stable is analyzed for closed-loop system. To illustrate the feasibility and superiority of this novel design, a series of comparative simulations with some prominent and representative methods are carried out on a benchmark longitudinal AHV model., (Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.)

This paper presents an enhanced Extended State Observer (ESO)-based control strategy to deal with the disturbance attenuation problem for a class of non integral-chain systems subject to non-linear mismatched uncertainties and external disturbances. The proposed control strategy does not assume the integral-chain form and it is formed by a state-feedback plus a dynamic disturbance compensation term, which is designed to reject the disturbance effect in the system output. From a theoretical point of view, the proposed strategy is reduced to the conventional ESO when the integral chain form and the matched condition hold. In this sense, this paper is presented as an extension of the ESO principles to cover a wider class of systems. The theoretical results show that the internal zero-dynamics plays an important role in ESO-based control design. Also, the closed-loop stability is analyzed and some numerical simulations show the effectiveness of the proposal in comparison with previous ESO-based techniques., (Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.)

Active disturbance rejection control (ADRC) treats the external disturbance and internal uncertainties as a general disturbance, and uses an extended state observer (ESO) to estimate it in real-time and feeds it back in the control loop, thus can achieve good disturbance rejection performance. However, ADRC is not quite suitable for unstable delayed processes due to its inherent structure. In this paper, a two-degree-of-freedom (2DOF) control structure is proposed for unstable time- delayed systems. Set-point tracking and disturbance rejection are separated in this structure and ADRC is solely responsible for disturbance rejection. A method to tune the ADRC parameters using all the information of the system is proposed, and robustness and performance of the proposed method are analyzed. Simulation examples show that 2DOF-ADRC can achieve good tracking and disturbance rejection performance., (Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.)

This paper proposes an observer based control approach for two input and two output (TITO) plant affected by the lumped disturbance which includes the undesirable effect of cross couplings, parametric uncertainties, and external disturbances. A modified reduced order extended state observer (ESO) based active disturbance rejection control (ADRC) is designed to estimate the lumped disturbance actively as an extended state and compensate its effect by adding it to the control. The decoupled mechanism has been used to determine the controller parameters, while the proposed control technique is applied to the TITO coupled plant without using decoupler to show its efficacy. Simulation results show that the proposed design is efficiently able to nullify the interactions within the loops in the multivariable process with better transient performance as compared to the existing proportional-integral-derivative (PID) control methods. An experimental application of two tanks multivariable level control system is investigated to present the validity of proposed scheme., (Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.)

Hydraulic servomechanism is the typical mechanical/hydraulic double-dynamics coupling system with the high stiffness control and mismatched uncertainties input problems, which hinder direct applications of many advanced control approaches in the hydraulic servo fields. In this paper, by introducing the singular value perturbation theory, the original double-dynamics coupling model of the hydraulic servomechanism was reduced to a integral chain system. So that, the popular ADRC (active disturbance rejection control) technology could be directly applied to the reduced system. In addition, the high stiffness control and mismatched uncertainties input problems are avoided. The validity of the simplified model is analyzed and proven theoretically. The standard linear ADRC algorithm is then developed based on the obtained reduced-order model. Extensive comparative co-simulations and experiments are carried out to illustrate the effectiveness of the proposed method., (Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.)

This paper investigates the problem of spatial curvilinear path following control of underactuated autonomous underwater vehicles (AUVs) with multiple uncertainties. Firstly, in order to design the appropriate controller, path following error dynamics model is constructed in a moving Serret-Frenet frame, and the five degrees of freedom (DOFs) dynamic model with multiple uncertainties is established. Secondly, the proposed control law is separated into kinematic controller and dynamic controller via back-stepping technique. In the case of kinematic controller, to overcome the drawback of dependence on the accurate vehicle model that are present in a number of path following control strategies described in the literature, the unknown side-slip angular velocity and attack angular velocity are treated as uncertainties. Whereas in the case of dynamic controller, the model parameters perturbations, unknown external environmental disturbances and the nonlinear hydrodynamic damping terms are treated as lumped uncertainties. Both kinematic and dynamic uncertainties are estimated and compensated by designed reduced-order linear extended state observes (LESOs). Thirdly, feedback linearization (FL) based control law is implemented for the control model using the estimates generated by reduced-order LESOs. For handling the problem of computational complexity inherent in the conventional back-stepping method, nonlinear tracking differentiators (NTDs) are applied to construct derivatives of the virtual control commands. Finally, the closed loop stability for the overall system is established. Simulation and comparative analysis demonstrate that the proposed controller exhibits enhanced performance in the presence of internal parameter variations, external unknown disturbances, unmodeled nonlinear damping terms, and measurement noises., (Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.)

Control of the non-minimum phase (NMP) system is challenging, especially in the presence of modelling uncertainties and external disturbances. To this end, this paper presents a combined feedforward and model-assisted Active Disturbance Rejection Control (MADRC) strategy. Based on the nominal model, the feedforward controller is used to produce a tracking performance that has minimum settling time subject to a prescribed undershoot constraint. On the other hand, the unknown disturbances and uncertain dynamics beyond the nominal model are compensated by MADRC. Since the conventional Extended State Observer (ESO) is not suitable for the NMP system, a model-assisted ESO (MESO) is proposed based on the nominal observable canonical form. The convergence of MESO is proved in time domain. The stability, steady-state characteristics and robustness of the closed-loop system are analyzed in frequency domain. The proposed strategy has only one tuning parameter, i.e., the bandwidth of MESO, which can be readily determined with a prescribed robustness level. Some comparative examples are given to show the efficacy of the proposed method. This paper depicts a promising prospect of the model-assisted ADRC in dealing with complex systems., (Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.)

The paper considers the tracking problem for a class of uncertain linear time invariant (LTI) systems with both uncertain parameters and external disturbances. The active disturbance rejection tracking controller is designed and the resulting closed-loop system's characteristics are comprehensively studied. In the time-domain, it is proven that the output of closed-loop system can approach its ideal trajectory in the transient process against different kinds of uncertainties by tuning the bandwidth of extended state observer (ESO). In the frequency-domain, different kinds of parameters' influences on the phase margin and the crossover frequency of the resulting control system are illuminated. Finally, the effectiveness and robustness of the controller are verified through the actuator position control system with uncertain parameters and load disturbances in the simulations., (Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.)

This paper investigates a novel compound control scheme combined with the advantages of trajectory linearization control (TLC) and alternative active disturbance rejection control (ADRC) for hypersonic reentry vehicle (HRV) attitude tracking system with bounded uncertainties. Firstly, in order to overcome actuator saturation problem, nonlinear tracking differentiator (TD) is applied in the attitude loop to achieve fewer control consumption. Then, linear extended state observers (LESO) are constructed to estimate the uncertainties acting on the LTV system in the attitude and angular rate loop. In addition, feedback linearization (FL) based controllers are designed using estimates of uncertainties generated by LESO in each loop, which enable the tracking error for closed-loop system in the presence of large uncertainties to converge to the residual set of the origin asymptotically. Finally, the compound controllers are derived by integrating with the nominal controller for open-loop nonlinear system and FL based controller. Also, comparisons and simulation results are presented to illustrate the effectiveness of the control strategy., (Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.)

This paper designs the active disturbance rejection control (ADRC) to achieve desired performance for a class of MIMO lower-triangular nonlinear systems with large uncertainties under un-matched condition. We develop the ADRC with a set of extended state observers, and prove that the closed-loop system can achieve satisfied dynamic performance. The theoretical results illustrate the relationship between the bound of the concerned error and the bandwidth of extend state observers., (Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.)

The methodology of ADRC and the progress of its theoretical analysis are reviewed in the paper. Several breakthroughs for control of nonlinear uncertain systems, made possible by ADRC, are discussed. The key in employing ADRC, which is to accurately determine the "total disturbance" that affects the output of the system, is illuminated. The latest results in theoretical analysis of the ADRC-based control systems are introduced., (Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.)