Article
Automation & Control Systems
Shaomeng Gu, Jinhui Zhang, Xin Liu
Summary: This article proposes a novel finite-time variable-gain active disturbance rejection control (FTVGADRC) method for master-slave teleoperated parallel manipulators with disturbances. The FTVGADRC method incorporates error-based variable gains to improve control performances, and the steady-state performance and settling time are calculated. Feasible solutions of the sufficient conditions in the stability analysis are also discussed and provided explicitly.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Automation & Control Systems
Danni Shi, Jinhui Zhang, Zhongqi Sun, Ganghui Shen, Yuanqing Xia
Summary: This paper investigates a novel disturbance observer and chattering-free adaptive sliding mode controllers for trajectory tracking of robot manipulators with unknown uncertainties and external disturbances. Simulation results demonstrate significant achievements in high-precision tracking performance and strong robustness.
CONTROL ENGINEERING PRACTICE
(2021)
Article
Computer Science, Artificial Intelligence
Hazrat Bilal, Baoqun Yin, Muhammad Shamrooz Aslam, Zeeshan Anjum, Avinash Rohra, Yizhen Wang
Summary: This research presents a practical study of active disturbance rejection control law (ADRC) for the control of robotic manipulators in the presence of uncertainties. The control objective of the proposed control law is to track the trajectory accurately and rejects the disturbance caused by robotic manipulators. Experimental results show that high precision position control as well as vibration suppression can be achieved with the proposed controller, which is superior to LQR and PID controllers.
Article
Engineering, Mechanical
Yao Sun, Yi Wan, Haifeng Ma, Xichang Liang
Summary: This study aims to develop an advanced controller for high-accuracy tracking control of hydraulic manipulators. It discovers that pressure shock disturbance significantly impairs the tracking performance. To address these issues, a shock disturbance compensation controller (SDCC) based on backstepping is proposed in this research. Experimental results show that the addition of SDCC reduces the maximum tracking error and variance of PID by an average of 68.7% and 68.55%, respectively.
NONLINEAR DYNAMICS
(2023)
Article
Green & Sustainable Science & Technology
Ahmad Taher Azar, Azher M. Abed, Farah Ayad Abdulmajeed, Ibrahim A. Hameed, Nashwa Ahmad Kamal, Anwar Jaafar Mohamad Jawad, Ali Hashim Abbas, Zainab Abdulateef Rashed, Zahraa Sabah Hashim, Mouayad A. Sahib, Ibraheem Kasim Ibraheem, Rasha Thabit
Summary: This paper proposes a maximum power point tracking method for photovoltaic systems based on active disturbance rejection control, aiming to ensure the system operates at the maximum power point under external disturbances and uncertainties. The method controls the duty cycle of the DC-DC buck converter to provide better performance and tracking for the maximum power point.
Article
Automation & Control Systems
Youwu Du, Weihua Cao, Jinhua She
Summary: This article presents a new method that uses the active disturbance rejection control (ADRC) paradigm to address the control problem for a specific type of non-linear systems with unknown disturbances and measurement noise. An improved extended state observer (ESO) is introduced to separate disturbance estimation from state reconstruction, with a new parameter for independent adjustment of disturbance-rejection performance. The method is validated through simulation and experimental results, demonstrating its superiority in disturbance rejection and noise suppression compared to traditional methods.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Automation & Control Systems
Zhijia Zhao, Zhijie Liu
Summary: This paper presents a new finite-time convergence disturbance rejection control scheme for a flexible Timoshenko manipulator, utilizing three disturbance observers and boundary controllers to ensure system stability and finite-time convergence of disturbance estimation errors. Numerical simulations validate the efficacy of the scheme with appropriate parameter selection.
IEEE-CAA JOURNAL OF AUTOMATICA SINICA
(2021)
Article
Computer Science, Information Systems
Radoslaw Patelski, Dariusz Pazderski
Summary: This paper investigates the influence of input-gain uncertainty on the tracking performance of a control structure designed based on the ADRC paradigm, using a second-order plant as an example. The results demonstrate that selecting an input-gain parameter different from the real plant can significantly improve control precision if the controller is designed in an error domain. The study also found that the closed-loop system remains stable and tracking errors decrease when the input gain value is derived from multiplying the plant gain input by a positive factor smaller than a certain threshold value.
Article
Computer Science, Artificial Intelligence
Pin Guo, Kun Xu, Huichao Deng, Haoyuan Liu, Xilun Ding
Summary: This paper introduces a multi-propeller aerial robot with a passive manipulator for aerial manipulation. An adaptive trajectory linearization control (ATLC) scheme is proposed to deal with collision, external disturbance, changing inertia, and underactuated characteristics during aerial manipulation. Numerical simulations and experimental results demonstrate that the proposed ATLC controller can stabilize the aerial robot and achieve successful aerial manipulation in outdoor environments.
COMPLEX & INTELLIGENT SYSTEMS
(2021)
Article
Engineering, Marine
Chuan Liu, Xianbo Xiang, Lichun Yang, Jinjiang Li, Shaolong Yang
Summary: This paper presents a hierarchical disturbance rejection depth tracking control scheme for the underactuated autonomous underwater vehicle (AUV) with comparative experimental results. The proposed hierarchical control scheme is constructed by two layers in the kinematics and dynamics. The effectiveness and remarkable performance of the proposed depth tracking control scheme are demonstrated through comparative experimental results using a small size underactuated AUV prototype.
Article
Automation & Control Systems
Hung Nguyen, Kanat Suleimenov, Bao-Huy Nguyen, Thanh Vo-Duy, Minh C. Ta, Ton Duc Do
Summary: This article proposes a study on the unification of disturbance observer based control (DOBC) and active disturbance rejection control (ADRC) for the application of speed control of permanent magnet synchronous motor. The unification of DOBC and ADRC is verified by addressing the dynamical delay formulas of the observations. Simulation and experimental validations demonstrate the identical performance of these two methods in rejecting both external disturbance and model uncertainty.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Mathematics
Blanca Viviana Martinez, Javier Sanchis, Sergio Garcia-Nieto, Miguel Martinez
Summary: A set of tuning rules for Linear Active Disturbance Rejection Controller (LADRC) with three different compromise levels between disturbance rejection and robustness is proposed. These rules, validated through examples and control of a nonlinear thermal process, offer improvement in disturbance rejection, robustness, or both compared to classical PID and other LADRC tuning methods.
Article
Automation & Control Systems
Rafal Madonski, Krzysztof Lakomy, Momir Stankovic, Sally Shao, Jun Yang, Shihua Li
Summary: This work proposes an advanced motion controller design based on ADRC with a custom observer capable of reconstructing various disturbances. Experimental results show improved performance in tracking precision and disturbance rejection, while maintaining similar energy consumption levels. Stability analysis using singular perturbation theory further validates the effectiveness of the proposed control approach.
CONTROL ENGINEERING PRACTICE
(2021)
Article
Automation & Control Systems
Wenchao Xue, Sen Chen, Cheng Zhao, Yi Huang, Jianbo Su
Summary: This article discusses integrating uncertainty estimator into PI controller for better robustness and transient performance against uncertain nonlinear coupling dynamics and time-varying disturbances. It covers the descriptions for the sizes of three kinds of uncertainties, tuning laws of ESO, and the importance of tuning the bandwidth of ESO for desired transient performance. Furthermore, it is shown that stronger disturbance rejection at low frequency can be achieved by integrating the uncertainty estimator module.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2021)
Article
Automation & Control Systems
Hui Peng, Meiping Wu, Huimin Lu, Junzheng Wang, Junhao Xiao, Yuan Huang, Dawei Shi
Summary: This article proposes a coordinated attitude control strategy for parallel electrical manipulators, which combines the distributed active disturbance rejection control (ADRC) framework with a consensus algorithm. The strategy solves the uncoordinated problem of electric actuators, compensates for disturbances, and achieves stable tracking performance.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
