A Summary of Parameter Tuning of Active Disturbance Rejection Controller

Abstract

Background: ADRC (active disturbance rejection controller) technology is a new practical technology that does not rely on the mathematical model of the controlled object and has strong robustness. It integrates the essence of modern control theory and classical proportion integral derivative theory and has good engineering application prospects. But with the research and development of the adaptive disturbance rejection controller, the problem of many parameters and the difficulty to adjust also arises. Objective: To act as a guide for future studies on the enhancement of ADRC parameter setting, to support the growth of ADRC technology, and to promote the effective use of the technology in other control fields. Method: The basic concepts and principles of ADRC control, the research methodologies for ADRC parameter tuning, and the research progress for ADRC parameter tuning in each direction are all introduced in this paper. The benefits and drawbacks of each method are then compiled, and a potential course of future development is suggested. This information is expected to serve as a guide for future studies on the enhancement of ADRC parameter tuning. Conclusion: The parameter tuning of the ADRC is a complex adjustment process. At present, the mainstream parameter tuning methods include the empirical method, the bandwidth method, the intelligent algorithm tuning method, and the time scale tuning method. Among them, the empirical method demands the debugging personnel to adjust conform to the accumulated experience, and the adjustment process is cumbersome; The bandwidth method needs to go through a lot of tedious calculations to determine the control parameters according to the model of the system, and the generality is poor; and the use of intelligent algorithms to tune ADRC parameters has become the most widely used method for tuning parameters.