Active Disturbance Rejection Control Algorithm Research Articles

Active disturbance rejection heading control of USV based on parameter tuning via an improved pigeon-inspired optimization

An improved active disturbance rejection control (ADRC) algorithm is proposed in this paper to enhance the heading control capabilities of unmanned surface vehicles (USVs) under wind and wave disturbances. The algorithm introduces two enhancements: parameter tuning and fitting, alongside the optimization of the nonlinear function in the ADRC algorithm. First, the parameter tuning employs an improved pigeon-inspired optimization (PIO) algorithm, which encompasses two strategies: the adaptive strategy and the wandering strategy. Parameter fitting ensures discretely optimized value transition into a continuous state, allowing dynamic parameter adjustments. Second, the optimization of the nonlinear function uses the D-value fitting method. Overall, the improved ADRC algorithm significantly enhances response speed to heading control commands for USVs, fortifying their resistance against wind and wave disturbances. Our proposed algorithm provides a new approach to achieve precise USV heading control.

Improved current control for PMSM via an active disturbance rejection controller

This article proposes an active disturbance rejection controller (ADRC) for regulating the dq axis currents of permanent magnet synchronous motors (PMSM). First, we establish actual PMSM model by considering ineluctable disturbances due to the variation of parameters, abrupt change of load, etc. Initially, we design dq axis current ADRCs incorporating an extended state observer (ESO). Compared to the commonly used proportional integral (PI) controller, the ADRC exhibits superior anti-interference capabilities in load and speed regulation. Secondly, we conduct a comprehensive analysis of ADRC’s key features, including ESO stability, dq-axis current tracking, and its anti-interference effectiveness in PMSM applications. Additionally, we offer methods for selecting parameters for both ADRC and ESO. Concurrently, we also examine the ADRC algorithm that utilizes a reduced-order extended state observer (RESO). The control performance of ADRC using RESO will be better than ESO. Finally, to verify the effectiveness of this method, we construct an experimental platform using the TMS320F28035. The results confirm the proposed method’s effectiveness.

Optimization of chaotic light output in semiconductor laser systems based on multi-objective optimization algorithm.

Aiming at the weak performance of chaotic light output in semiconductor laser systems, the study designed a power control algorithm for semiconductor laser drive systems based on linear self-disturbance rejection control. Then the optimization parameters and scope were determined, and multi-objective optimization and direction preference algorithms were introduced. A chaotic optical performance optimization model based on improved multi-objective genetic algorithm was constructed using adaptive functions as evaluation indicators. These results confirmed that the larger the bandwidth of the controller, the faster the response speed of the resonant converter, but the stability was poor. When the input voltage underwent a sudden change, the current ripple coefficient of the PID algorithm was 0.55%. The linear active disturbance rejection control algorithm could ensure that the voltage and current maintained at the set values, and the output current of the algorithm was more stable when the load underwent sudden changes. The directional preference algorithm could further provide more valuable solutions on the basis of adaptive genetic algorithms. When the peak value of the autocorrelation function was equal to 0.2, the delay characteristics of chaotic light were effectively suppressed, having strong signal bandwidth and complexity. In summary, the constructed model has good application effects in optimizing chaotic optical performance and has certain positive significance for communication security.

Vibration control of piezoelectric beams with active constrained layer damping treatment using LADRC algorithm

Active constrained layer damping (ACLD) treatment has become an important smart structure for vibration suppression due to its ability to achieve enhanced damping effects through real-time control. The control algorithm is a critical factor that determines the damping performance of the ACLD treatment. In this work, we utilize the linear active disturbance rejection control (LADRC) algorithm for the first time in the vibration suppression of beams with the ACLD treatment by compensating for the disturbance. To optimize vibration suppression, we also propose an efficient parameter tuning approach by analyzing the effects of controller bandwidth, control gain, and observer bandwidth on vibration suppression performance. Firstly, the dynamic model of elastic beams with the ACLD treatment is established and the LADRC algorithm is designed. Subsequently, the accuracy of the model is verified by comparing it with open literature and experiments. Then, the influences of the control parameters and different positions of the ACLD treatment on the vibration suppression performance are studied. Finally, the vibration suppression effects of LADRC and traditional PID algorithms are compared. The results indicate that the vibration suppression performance of the ACLD treatment is better than that of the passive constrained layer damping (PCLD) treatment. Setting the controller bandwidth to a small value and then adjusting other control parameters can effectively reduce the difficulty of parameter tuning while achieving superior vibration suppression performance. Appropriately increasing the observer bandwidth or reducing the control gain is beneficial for enhancing the suppression efficiency. The parameter tuning approach in this study provides vital guidance for the application of the LADRC algorithm in structural vibration suppression.

Anti-disturbance control design of Exoskeleton Knee robotic system for rehabilitative care

In this study, Active Disturbance Rejection Control (ADRC) has been designed for motion control of knee-joint based on exoskeleton medical robot. The extended state observer (ESO) is the main part of ADRC structure, which is responsible for estimating both actual states and system uncertainties. The proposed control scheme has adopted two versions of observers as disturbance estimators: linear extended state observer (LESO) and nonlinear extended state observer (NESO). The efficacy of proposed ADRC is strongly related to the performance of used ESO. As such, a comparison study has been conducted to evaluate the performance of two ADRCs in terms of disturbance-rejection capability and robustness to variation in system parameters under two version of ESO (LSO and NLESO). In order to enhance the dynamic performance of ADRC, Particle Swarm Optimization (PSO) algorithm has been used to optimally tune the design parameters of control scheme. To show the effectiveness of proposed LESO-based ADRC and NLESO-based ADRC, numerical simulation have been conducted. The proposed controllers have tested for an uncertain exoskeleton-knee system, where a 20% change in parameters was permitted over their nominal values. The results indicate that the ADRC algorithm based on LESO outperforms the one based on NESO in terms of disturbances rejection ability and robustness to parameters’ variations.

Hybrid Data-Driven Active Disturbance Rejection Sliding Mode Control with Tower Crane Systems Validation

This paper proposes a combination of a data-driven algorithm represented by the second-order continuous-time Active Disturbance Rejection Control (ADRC) and a Sliding Mode Control (SMC) algorithm. The purpose of this hybrid controller referred to as ADRC-SMC is to improve the overall control-loop system performance while guaranteeing its stability. This will be done through clear, simple, and transparent steps of controller design in a novel real formulation focused on practical implementation. The parameters of the novel second-order continuous-time ADRC-SMC algorithm are optimally tuned using a metaheuristic slime mould algorithm. The purpose of obtaining the parameters of the ADRC-SMC algorithms in this model-based manner is to reduce the heuristics and further ensure a fair performance comparison of the ADRC-SMC algorithm with that of the popular ADRC algorithm. The data-driven second-order continuous-time ADRC and ADRC-SMC algorithms are validated experimentally validated on tower crane laboratory equipment.

Wheel slip ratio control considering time delay characteristic for electro-mechanical braking system

Electro-mechanical braking (EMB) system is a novel brake-by-wire (BBW) system which is the development direction of the electrification and intelligent vehicle braking system. However, as the EMB contains a mechanical transmission mechanism, there is an inevitable time delay in the braking process, which will cause problems of the wheel slip ratio control. To address this issue, this paper proposes a novel wheel slip ratio control system based on a hierarchical control framework, comprising a slip ratio control layer and a clamping force control layer. Firstly, an EMB actuator model considering the stiffness and damping characteristics of the ball screw is constructed and the correspondence between the model and the EMB object is verified. Subsequently, a model-based compensate active disturbance rejection control (MCADRC) algorithm based on the EMB actuator model is designed to compensate the uncertainty of the EMB and improve the tracking accuracy of the clamping force. Furthermore, the influence of time delay on slip ratio control is analyzed and a slip ratio controller considering time delay characteristic is developed to improve the slip ratio control quality. Finally, the HiL test results show that the proposed controller can effectively reduce the jitter of slip ratio by 1.2% and improve the response speed of slip ratio control 7.8%, which prove the real-time and effectiveness of the controller.

Filtr Kalmana jako alternatywa dla rozszerzonego obserwatora stanu w algorytmie regulacji ADRC

The article presents a modified Active Disturbance Rejection Control (ADRC) algorithm that uses the Kalman Filter (KF) for the estimation of extended state vector. The Kalman filter replaced the Extended State Observer (ESO) used in its basic form. The purpose of this modification was to improve the system robustness under conditions of stochastic measurement disturbances. The method of the control system synthesis and the Kalman filter gains selection, ensuring control efficiency, as well as their impact on the system operation, were presented. The experiments were carried out on a laboratory setup – the Ball Balancing Table (BBT). Control quality was assessed based on time plots of signals and integral performance indices for various algorithm gains configurations and different noise levels. As a result of the conducted research, the advantage of using the Kalman filter over the ESO in terms of sensitivity to measurement noises was demonstrated. Implementation of the Kalman filter as the ESO determined a positive impact on control quality and the ability to reject internal disturbance also in a deterministic system.

Linear active disturbance rejection control algorithm for active vibration control of piezo-actuated beams: Theoretical and experimental studies

The active vibration control (AVC) of lightweight thin-walled structures on spacecraft has been a proven solution for vibration suppression. In this study, a linear active disturbance rejection control (LADRC) algorithm is presented for vibration suppression of piezo-actuated beams. Firstly, the governing equation of a piezo-actuated beam is obtained by using the Euler–Bernoulli beam theory and the Lagrange equation. The LADRC algorithm is designed for the piezo-actuated beam based on the governing equation. Then, the accuracy of the piezo-actuated beam model is confirmed by comparison with ANSYS and experiments. Finally, numerical simulations and experiments are carried out on the active vibration suppression of the piezo-actuated beam under the fixed harmonic excitation, variable harmonic excitation, and fixed harmonic excitation with measuring noise, respectively. The results show that the LADRC algorithm has an excellent control effect on structural vibration suppression, strong adaptability to various external excitations, and anti-noise ability.

Research on ADRC algorithm for longitudinal attitude of hydrofoil craft based on improved convergence law

When a hydrofoil sails at high speed, the wave force and moment become critical factors causing instability. The longitudinal motion of the hydrofoil exhibits strong coupling and parameter uncertainty. To ensure stable sailing, a multivariate decoupling control method is proposed for the longitudinal motion of the hydrofoil. This method involves real-time estimation of the total effect of wave disturbance force and internal perturbations using a state observer, compensation for disturbances in the control loop, and the utilization of improved sliding-mode control instead of nonlinear feedback control to achieve the stabilization of the hydrofoil’s longitudinal motion. In this paper, the proposed method is simulated and analyzed using the PCH-1 boat as a model under different wave disturbance environments. The results indicate that, in comparison with active disturbance rejection control (ADRC), the heave displacement and pitch angle of the active disturbance rejection sliding mode control with improved reaching law (ADRC-ISMC) are reduced by approximately 30%–50%. This improvement is significant compared to H-∞ control and results in faster stress response. The method effectively mitigates the effect of longitudinal motion on the hydrofoil, demonstrating its effectiveness and superiority.

Research on intelligent active disturbance rejection control algorithm for shock train leading edge of dual-mode scramjet

To prevent scramjet inlet unstart, stringent control over the shock train's leading edge in the isolator is necessary. Therefore, this study proposes a fuel flow active control scheme combining an adaptive particle swarm optimization algorithm (APSO) and active disturbance rejection control (ADRC) to enhance the traditional control (such as proportional-integral-derivative, PID) system's stability and anti-interference capabilities in complex and uncertain environments. Within this context, a simple, semi-empirical mathematical model of a dual-mode scramjet is constructed. An ADRC controller is designed to counteract the nonlinearity and disturbance of the dual-mode scramjet. ADRC, not requiring an accurate mathematical model, utilizes its extended state observer to estimate all uncertain factors affecting the controlled object based on the relationship between the shock train's leading edge and the controller's output, treating them as unknown disturbances for compensation, thereby exhibiting strong anti-interference capabilities. In order to optimize the performance, the APSO is introduced to fine-tune the ADRC controller parameters. The APSO reduces the rise time of ADRC from 22.28 to 11.39 ms, and the adjustment time from 40.05 to 13.64 ms. The APSO effectively tunes the parameters of the ADRC controller, which ensures rapidity comparable to the PID and all-coefficient adaptive control (ACAC) in managing the shock train's leading edge. At the same time, ADRC has stronger anti-interference ability and adaptive ability than ACAC and PID. This research preliminarily verifies the feasibility and advancement of the ADRC for shock train leading-edge control in scramjet isolators.

Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot

To overcome poor error suppression performance and low control accuracy in the polishing robot-driven branch chain control system, this paper proposes an improved active disturbance rejection control (ADRC) from the design of the derived nonlinear function. Subsequently, the tracking differentiator (TD), extended state observer (ESO) and nonlinear state error feedback (SEF) are designed in the ADRC, and the driven branch’s ADRC servo-control system is established based on the permanent magnet synchronous motor (PMSM) with each driven branch. Meantime, by establishing first-order and second-order ADRC, current-loop control, and speed-and-position-loop control are realized, respectively. Finally, this study analysed differences in the speed and motor rotor error performance between the proportional-integral-derivative (PID)control and ADRC control strategy by using Simulink. Furthermore, an experiment platform, including hardware and software, is built to validate some inclusions. The results show that the ADRC not only realises high-precision trajectory tracking control but also ensures the rapid response performance of the system.

Improved active disturbance rejection speed control for autonomous driving of high-speed train based on feedforward compensation.

Due to the complex and changeable train operation environment and the unstable and time-varying parameters, accurate modeling is limited. Therefore, a modified active disturbance rejection control algorithm based on feedforward compensation (FC-MADRC) is proposed targeting the speed control problem of trains under the circumstances of external disturbances, which reduces the dependence on the train model. Firstly, the state space equation is established based on the single-particle mathematical model of the train, and all the running resistances are regarded as disturbances. Secondly, the FC-MADRC algorithm is designed. Based on the terminal attractor function and the novel Sigmoid function, an improved tracking differentiator (ITD) is designed. An improved fal (nsfal) function with better smoothness is constructed by using the properties of the Dirac δ function, and an ameliorative nonlinear state error feedback (ANLSEF) and a modified extended state observer (IESO) are designed based on the nsfal function. Furthermore, based on the thought of PID, the integral term of error is introduced into ANLSEF for the nonlinear operation to reduce the steady-state error of train speed tracking. In order to promote the robustness and control accuracy of the system, the feedforward compensation term and disturbance compensation term are combined to perform dynamic compensation for disturbances in real time. Finally, the simulation is carried out with CRH380A train data. The results indicate that compared with conventional ADRC and 2DOF-PID, FC-MADRC has the more vital anti-disturbance ability and higher tracking accuracy. FC-MADRC has the advantages of solid anti-disturbance, fast response, and high tracking accuracy. Under the premise of external disturbance, it can still achieve accurate speed tracking under different road conditions.

Research on Active Disturbance Rejection Algorithm for Loading Control of 3-DOF Parallel Robot

A three-dimensional (3D) loading device based on a pneumatic 3-universal-prismatic-universal (UPU) parallel manipulator (three chains with UPU joint each) is designed to apply time-varying multi-dimensional loads to a target. First, according to the principle of vector superposition and Newton–Raphson method, the inverse and forward kinematics of the loading device are analyzed. Second, based on the screw theory, the static mapping between the dynamic platform and actuations is derived. Third, a second-order mathematical model is established for pneumatic 3-UPU parallel mechanism based on proportional flow valve and a metal seal pneumatic cylinder. A referential inaccurate model is provided for the control algorithm during modeling. Fourth, based on active disturbance rejection control (ADRC) technique, a 3D loading control algorithm is proposed and dynamic loading control is realized. Experimental results show that the ADRC algorithm has good robustness against disturbances, the steady-state control accuracy is less than 2 N, and the mean square error in dynamic tracking (sinusoidal tracking at 0.2 Hz) is less than 10.5 N.

Research on Amphibious Multi-Rotor UAV Out-of-Water Control Based on ADRC

This paper presents a study on controlling the out-of-water motion of amphibious multi-rotor UAVs using a cascade control method based on the Active Disturbance Rejection Control (ADRC) algorithm. The aim is to overcome the challenges of time-varying model parameters and complex external disturbances. The research involves developing an underwater dynamic model and analyzing hydrodynamic forces to calculate theoretical inertial hydrodynamic forces and simulate viscous hydrodynamic forces. This establishes the relationship between viscous hydrodynamic forces and exit velocity. A complete air dynamic model is then established, selecting model parameters based on the center of mass position of the amphibious vehicle to enable switching from water to air. To address control algorithm instability caused by changes in model parameters, position and attitude controllers are built using the ADRC algorithm. The control effects are compared with traditional PID and sliding mode controllers (SMC) to verify the effectiveness and superiority of the proposed cascade ADRC control strategy. Experimental results show that our controller has stronger anti-interference than traditional PID and SMC controllers and can overcome control instability caused by changes in model parameters. Our research highlights the importance of using ADRC-based controllers for amphibious multi-rotor UAVs to achieve robust and stable control.

Research on Dynamic Performance of Independent Metering Valves Controlling Concrete-Placing Booms Based on Fuzzy-LADRC Controller

Motion control of truck-mounted concrete pump booms is an important part of concrete construction work. The quality of the boom movement will affect the efficiency and safety of construction operations. To make the boom move quickly and steadily, its hydraulic control system needs to be improved. In this article, we firstly combine independent metering control (IMC) and active disturbance rejection control (ADRC). The hydraulic system that controls the boom is meliorated by replacing the traditional proportional directional spool valve with four cartridge flow control valves to realize IMC. Meanwhile, a fuzzy linear ADRC algorithm is proposed for a new IMC hydraulic system where ADRC is linearized and combined with fuzzy logic to achieve better motion control performance of boom sections. According to the results of experiments conducted using all six boom sections, compared with the PID control algorithm, the fuzzy linear active disturbance rejection control (FLADRC) proposed in this article can improve the stability and rapidity of valves controlled by hydraulic cylinders by 10.0% to 66.7% in different working conditions.

Development of centrifugal coating device to load CuZnZr/γ-Al2O3 catalyst on porous substrates for methanol steam reforming

The porous foam material has been attracted to be used as the catalyst coating substrate for microreactors due to its generally excellent heat and mass transfer characteristics. Preparing uniform catalyst coating onto porous foam can increase the adhesion area between the coating and substrate to reduce spallation and extend the service life of microreactors. Herein, we developed a highly automatic centrifugal coating device to fabricate relatively uniform catalyst coating onto porous foam structures. The structural and hardware components of the automatic centrifugal coating device are introduced, and an active disturbance rejection control (ADRC) algorithm is adopted to accurately adjust the centrifugal speed with an error of <1 % to ensure the relative uniformity of catalyst coating. By using the developed device, the CuZnZr/γ-Al2O3 catalyst coating can be successfully loaded onto three types of foam substrates (Cu, α-SiC/α-Al2O3, α-Al2O3) with high relative uniformity. The spallation resistance was examined by thermal shock and high-speed steam scouring tests. After that, the porous foam substrate with coated catalyst was used in microreactors for methanol steam reforming, results showed that the conversion rate of CuZnZr/γ-Al2O3/Cu foam structured catalyst can reach 90.7 % and hydrogen flow rate is 296.18 mL/min at 300 °C. This study demonstrates our developed centrifugal coating device has the potential for industrial application of structured catalyst preparation.

Combustion stability control of a single-piston free piston engine generator

Free piston engine generator is an effective alternative to conventional range ex-tender, which is able to facilitate the transportation sector decarbonization attributed to its high thermal efficiency and ultimate fuel flexibility. However, due to the lack of crankshaft mechanism, stable and robust operation of free piston engine generator is difficult to achieve since various disturbances may exist during its operation. In this paper, a combustion stability control based on active disturbance rejection control algorithm was proposed for a single piston free piston engine generator. To develop this control, a thermodynamic model of the free piston engine generator system was calibrated and validated through experimental data. Afterward, a 2nd order active disturbance rejection control based speed control was developed by leveraging the developed free piston engine generator model. The proposed active disturbance rejection control was employed into multiple abnormal combustion scenarios through a simulation, including various fuel heat released, ignition positions and burn durations, aimed to verify the control ability of rejecting disturbances and enhancing the robustness of the free piston engine generator operation.

Improved Active Disturbance Rejection Control Algorithm Based on Fast Steering Mirror for Optical Communication

Improved Active Disturbance Rejection Control Algorithm Based on Fast Steering Mirror for Optical Communication

A Novel Disturbance Rejection Control of Roll Channel for Small Air-to-Surface Missiles

In this paper, the issue of roll channel for attitude control for small air-to-surface missiles suffering from multiple disturbances is investigated. The dynamic model of roll channel is established and the roll controller of roll channel based on the active disturbance rejection control (ADRC) is designed. Based on the extended state observer, the disturbance is observed and compensated to track the roll rate accurately. Then, simulations and verification are carried out for rudder efficiency, barycenter location deviation, steering gear stuck, wind disturbance, drift error of inertial measurement unit (IMU) and other disturbances. The control effect is also compared with proportional integral derivative (PID) control and other ADRC algorithms. The results demonstrate that the algorithm has a good ability to suppress multiple disturbances. It can meet the control performance requirements of small air-to-surface missiles.