Active Disturbance Rejection Control Research Articles

Compensation characterization of the UPQC system under an improved nonlinear controller based on the MSTOGI-PLL device

To solve the delay problem of a unified power quality conditioner (UPQC) system during the separation of the fundamental positive-order components and to better filter out the DC and harmonic components to realize accurate phase locking, a mixed second- and third-order generalized integrator phase-locked loop (MSTOGI-PLL) has been designed to replace the traditional synchronous reference frame phase-locked loop (SRF-PLL). Under the premise of adopting the new phase-locking device of MSTOGI-PLL, the active disturbance rejection control (ADRC) controller or the super-twisting algorithm (STA) sliding mode controller is used in the DC voltage control module instead of the traditional PI controller, and the suitability of the two nonlinear controllers with the MSTOGI-PLL device is investigated. First, the new MSTOGI-PLL device is designed, and the new phase-locking method is applied to make the UPQC realize accurate phase locking under the non-ideal situation of the grid voltage containing unbalance, DC component, harmonics, and so on. Based on the above foundation, the ADRC or STA controller is independently adopted to replace the PI controller to construct the UPQC system with the ADRC + MSTOGI phase-locking device and the second-order STA + MSTOGI phase-locking device. Finally, a simulation comparison is carried out in a Simulink simulation platform regarding the UPQC system under different phase-locking devices, and the simulation results demonstrate that MSTOGI-PLL can successfully filter out the DC component and resolve the phase-locking process delay issue. Additionally, the UPQC system with ADRC + MSTOGI-PLL exhibits superior immunity and response speed to the PI controller and the second-order STA controller.

A Dual-FSM GI LiDAR Imaging Control Method Based on Two-Dimensional Flexible Turntable Composite Axis Tracking

In this study, a tracking and pointing control system with a dual-FSM (fast steering mirror) two-dimensional flexible turntable composite axis is proposed. It is applied to the target-tracking accuracy control in a GI LiDAR (ghost imaging LiDAR) system. Ghost imaging is a multi-measurement imaging method; the dual-FSM GI LiDAR tracking and pointing imaging control system proposed in this study mainly solves the problems of the high-resolution remote sensing imaging of high-speed moving targets and various nonlinear disturbances when this technology is transformed into practical applications. Addressing the detrimental effects of nonlinear disturbances originating from internal flexible mechanisms and assorted external environmental factors on motion control’s velocity, stability, and tracking accuracy, a nonlinear active disturbance rejection control (NLADRC) method based on artificial neural networks is advanced. Additionally, to overcome the limitations imposed by receiving aperture constraints in GI LiDAR systems, a novel optical path design for the dual-FSM GI LiDAR tracking and imaging system is put forth. The implementation of the described methodologies culminated in the development of a dual-FSM GI LiDAR tracking and imaging system, which, upon thorough experimental validation, demonstrated significant improvements. Notably, it achieved an improvement in the coarse tracking accuracy from 193.29 μrad (3σ) to 87.21 μrad (3σ) and enhanced the tracking accuracy from 10.1 μrad (σ) to 1.5 μrad (σ) under specified operational parameters. Furthermore, the method notably diminished the overshoot during the target capture process from 28.85% to 12.8%, concurrently facilitating clear recognition of the target contour. This research contributes significantly to the advancement of GI LiDAR technology for practical application, showcasing the potential of the proposed control and design strategies in enhancing system performance in the face of complex disturbances.

Speed Sensorless Control System of Five‐Phase Induction Motor Based on Linear Active Disturbance Rejection Control and Adaptive Full‐Order Observer

As the simplest type of multi‐phase induction motor, the five‐phase induction motor is suitable for applications that require high power and reliability due to its advantages such as low noise, low torque ripple, and strong load capacity. To address the problem that the speed encoder is easily affected by external environmental interference, a speed sensorless vector control strategy combining linear active disturbance rejection control and adaptive full‐order observer is proposed. Compared with the traditional speed sensorless vector control strategy, this paper's proposed method designs three first‐order linear active disturbance rejection controllers instead of traditional proportional‐integral controllers for speed control. Experimental results show that the proposed strategy exhibits stronger anti‐interference ability under load disturbance, improving the overall robustness of the speed sensorless control system. © 2024 Institute of Electrical Engineers of Japan. Published by Wiley Periodicals LLC.

Output redefinition-based active disturbance rejection control for nonminimum phase hypersonic vehicles

Purpose This paper aims to propose and verify an improved cascade active disturbance rejection control (ADRC) scheme based on output redefinition for hypersonic vehicles (HSVs) with nonminimum phase characteristic and model uncertainties. Design/methodology/approach To handle the nonminimum phase characteristic, a tuning factor stabilizing internal dynamics is introduced to redefine the system output states; its effective range is determined by analyzing Byrnes–Isidori normalized form of the redefined system. The extended state observers (ESOs) are used to estimate the uncertainties, which include matched and mismatched items in the system. The controller compensates observations in real time and appends integral terms to improve robustness against the estimation errors of ESOs. Findings Theoretical and simulation results show that the stability of internal dynamics is guaranteed by the tuning factor and the tracking errors of external commands are globally asymptotically stable. Practical implications The control scheme in this paper is expected to generate a reliable way for dealing with nonminimum phase characteristic and model uncertainties of HSVs. Originality/value In the framework of ADRC, a concise form of redefined outputs is proposed, in which the tuning factor performs a decisive role in stabilizing the internal dynamics of HSVs. By introducing an integral term into the cascade ADRC scheme, the compensation accuracy of matched and mismatched disturbances is improved.

Identification of linear flat outputs using neural networks—Examples of two-degree-of-freedom underactuated mechanical systems

This paper proposes a neural networks-based approach of finding flat output of linearized underactuated mechanical systems (UMS). Given that differential flatness and controllability are equivalent for linear systems, the problem is equivalent to finding the Brunovsky canonical form of linearized UMSs. We use a two degree-of-freedom (2DOF) system to illustrate the theoretical development. The proposed method identifies the local flat output of nonlinear mechanical systems from the measurements only, without a detailed mathematical model. The identification allows us to combine the well-known active disturbance rejection control (ADRC) and differential flatness control. A time-domain direct identification (TDDI) algorithm and its variant based on the algebraic method are proposed for flat output identification (FOID). The neural networks for implementing the TDDI algorithm called FOID-NN are created to evaluate flat output candidates and to use the flat output to reconstruct the system states in terms of a linear mapping. The neural networks are trained with the loss functions defined by reconstruction errors. Two special layers, namely tracking differentiator (TD) and algebraic layer, are inserted in the FOID-NN to handle noisy signal differentiations. Simulations of a cart–pole system and a stable 2DOF nonlinear UMS are carried out to show the range of applications of the FOID-NN. The experimental data of an underactuated rotary crane are used to validate the identified flat output.

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.

Cross-coupling-based fuzzy active disturbance rejection control for dual-path snubbing unit lifting system

Cross-coupling-based fuzzy active disturbance rejection control for dual-path snubbing unit lifting system

Specified-performance active disturbance rejection control for position stabilization of the tip of gangways

In the presence of uncertain dynamics, uncertain wave-induced vessel motion disturbances, and uncertain mechanical friction, a position stabilization control scheme with specified performance is proposed for the tip of the gangway (ToG) to achieve wave-induced vessel motion compensation in this article. Based on a barrier function, a specified-time extended state observer (STESO) is innovatively constructed, which, in a specified settling time, provides the estimates of the total disturbances lumped by uncertain dynamics, uncertain wave-induced vessel motion disturbances, and uncertain mechanical friction. Further, based on the constructed STESO and another barrier function, an active disturbance rejection control law with specified performance for the position stabilization of the ToG is created such that the position stabilization errors of the ToG reach and stay within the specified tolerance error bands in the specified settling times. Therein, it is solved that in the existing literature, the bandwidth of the prescribed-time extended state observer or controller will approach infinity when the time approaches the specified settling time. This is because our properly designed envelops of the ToG position estimation errors of STESO and the ToG position stabilization errors guarantee that the bandwidths of the STESO and the controller are bounded. Simulation results with comparisons show the effectiveness and the superiority of the proposed control scheme.

Modified Tilt-integral Active Disturbance Rejection Controller with Inertia Emulated Direct Current Link for Frequency Control of Marine Microgrid

The increasing integration of intermittent renewable sources (RSs) poses a dynamic frequency stability challenge for modern marine vessel microgrids. To address this issue, this paper proposes a novel control approach, specifically targeting frequency and tie-line power stabilization in a diverse source marine microgrid (MμG) with two intertied areas featuring renewable (wind-wave) sources. The suggested approach introduces a modified tilt-integral active disturbance rejection (TI-ADRC) controller designed to ensure effective damping of power frequency oscillations. As the control scheme depends on the optimal setting of the proposed controller, a recently developed marine predator technique (MPT) has been adopted. The performance of the proposed controller is compared with other recent controllers viz. PID, tilt-integral derivative (TID), two-degree-of-freedom (2DOF)-PID, fuzzy-PI, and ADRC to validate its superiority. To further enhance the system dynamics, a precise modeling of inertia emulated direct current (IEPDC) tie link is incorporated in microgrid system. The impact assessments, considering time delays with pre/post IEPDC link, demonstrate a substantial 57.79% and 81.53% reduction in peak frequency overshoot compared to DC link (conventional model) and AC link, respectively. The analysis of the eigen plot confirms the stability of the control system. Sensitivity assessments of the controller against ±30% parametric variations and load fluctuations are conducted, affirming its robustness. Finally, the result from OPAL-RT confirm the practicality of the proposed method. It is asserted that the suggested controller is reliable and functions well in n the presence of diverse disruptions and parametric variations.

Enhancement of virtual inertia via delay designed GADRC in hybrid microgrid with communication delay

The lowering of inertia in a hybrid microgrid caused by the incorporation of renewable sources of energy leads to an increased rate of change of frequency and frequency deviation in the system. Further, the varying load demand and the presence of communication delay adversely affect the frequency regulation. In view of this, in this paper, a modified virtual inertia control strategy is formulated and implemented through the energy storage device to enhance the overall inertia of the hybrid microgrid. Secondly, a delay-designed generalized active disturbance rejection control (DD-GADRC) technique is proposed for the secondary frequency control of the power system under varying communication delay and rapidly fluctuating load demand in the system. The effectiveness of the proposed control scheme is evaluated across multiple scenarios, including situations when there are continuous changes in solar or wind power generations. The robustness of the proposed technique is also evaluated under parametric variations and the presence of non-linearities in the system. Finally, the effectiveness of the proposed technique is analyzed and compared to various pre-existing control strategies in the literature related to the hybrid microgrid.

Robust tracking control of flexible manipulators using hybrid backstepping/nonlinear reduced-order active disturbance rejection control

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.

Electro-Hydraulic Servo-Pumped Active Disturbance Rejection Control in Wind Turbines for Enhanced Safety and Accuracy

Aiming at the high accuracy and high robustness position control of servo pump control in the pitch system of a wind turbine generator, this paper proposes an active disturbance rejection controller (ADRC). The ADRC considers pitch angular velocity and acceleration limits. According to the kinematics principle of the pump-controlled pitch system, the relationship between the pitch angular velocity and acceleration limit and the displacement of the hydraulic cylinder is established. Through the method of theoretical analysis, the nonlinear relationship expression between pitch angle and hydraulic cylinder displacement is obtained, and the linearization of pitch angular velocity control is realized; the formula for b0 (the estimated value of the input gain of the system) of the pump-controlled pitch system is obtained by the method of modeling and analysis, b0 is the key parameter for the design of the ADRC; the stability of the controller parameters is proved through the stability analysis and simulation analysis, and the design of the self-immobilizing controller with pitch angular velocity and acceleration limitation is the completed ADRC design. Finally, a joint simulation platform of AMESim and MATLAB as well as a physical experiment platform of electro-hydraulic servo pump-controlled pitch control is constructed, and the effectiveness of the proposed control method is verified through simulation and experiment. The results show that compared with the unrestricted ADRC and PID, the velocity-acceleration-limited ADRC can effectively improve the control effect of the angular velocity and acceleration of the paddle, smooth the startup process, improve the safety of the system, and have better position control accuracy and anti-jamming ability.

Research on a Sensorless ADRC Vector Control Method for a Permanent Magnet Synchronous Motor Based on the Luenberger Observer

A sensorless vector active disturbance rejection control (ADRC) method for permanent magnet synchronous motors (PMSM) utilizing a Luenberger observer is presented. This method aims to address the challenges associated with weak active disturbances, substantial steady-state speed amplitude fluctuations, and difficulty in achieving a balance between overshoot and speed control in the sensorless PMSM control system. Mathematical models of the Luenberger observer and the ADRC were analyzed, leading to the proposal of a second-order ADRC control method based on the Luenberger observer. A mathematical model of the permanent PMSM has been introduced. Additionally, the necessary conditions for the convergence of the Luenberger observer were derived and examined. The allowable range of error feedback gain values was determined, and rotor position data were acquired using a phase-locked loop. The principle of the ADRC was analyzed, and the ADRC simulation results, along with the PI simulation results, were detailed. When the target speed is 1000 r/min, the steady-state error and load disturbance resistance of the ADRC control method outperform those of the PI control method. Finally, the control method was experimentally tested on an STM32F4 chip, demonstrating the advantages of small steady-state error and strong active disturbance ability.

Robust Tracking Control of Wheeled Mobile Robot Based on Differential Flatness and Sliding Active Disturbance Rejection Control: Simulations and Experiments.

This paper proposes a robust tracking control method for wheeled mobile robot (WMR) against uncertainties, including wind disturbances and slipping. Through the application of the differential flatness methodology, the under-actuated WMR model is transformed into a linear canonical form, simplifying the design of a stabilizing feedback controller. To handle uncertainties from wheel slip and wind disturbances, the proposed feedback controller uses sliding mode control (SMC). However, increased uncertainties lead to chattering in the SMC approach due to higher control inputs. To mitigate this, a boundary layer around the switching surface is introduced, implementing a continuous control law to reduce chattering. Although increasing the boundary layer thickness reduces chattering, it may compromise the robustness achieved by SMC. To address this challenge, an active disturbance rejection control (ADRC) is integrated with boundary layer sliding mode control. ADRC estimates lumped uncertainties via an extended state observer and eliminates them within the feedback loop. This combined feedback control method aims to achieve practical control and robust tracking performance. Stability properties of the closed-loop system are established using the Lyapunov theory. Finally, simulations and experimental results are conducted to compare and evaluate the efficiency of the proposed robust tracking controller against other existing control methods.

Rapid Tracking Satellite Servo Control for Three-Axis Satcom-on-the-Move Antenna

To overcome the possible gimbal lock problem of the dual-axis satcom-on-the-move (SOTM) antenna, a three-axis tracking satellite SOTM antenna structure appears. The three-axis SOTM antenna is realized by adding a roll axis to the azimuth axis and pitch axis in the dual-axis SOTM structure. There is coupling among the azimuth axis, pitch axis and roll axis in the mechanical structure of the three-axis SOTM antenna, which makes the kinematic modeling of the antenna difficult. This paper introduces a three-axis SOTM antenna kinematic modeling method based on the modified Denavit–Hartenberg (MDH) method, named the new modified Denavit–Hartenberg (NMDH) method. In order to meet the modeling requirements of the MDH method, the NMDH method adds virtual coordinate systems and auxiliary coordinate systems to the three-axis SOTM antenna and obtains the kinematic model of the three-axis SOTM antenna. During the motion of the carrier, the SOTM antenna needs to adjust the antenna pointing in real time according to the changes of the location and attitude of the moving carrier. Therefore, this paper designs a servo control system based on the active disturbance rejection controller (ADRC), introducing a smooth and continuous ADRC fal function to enhance the tracking speed of the servo control system and reduce the overshoot of the output response. Finally, system experiments were carried out with a 60 cm caliber three-axis SOTM antenna. The experiment results show that the proposed servo control method achieves higher antenna tracking satellite accuracy and better communication effects.

Research on Active Disturbance Rejection Control with Parameter Autotuning for a Moving Mirror Control System Based on Improved Snake Optimization

In order to improve the control of a moving mirror control system and enhance the anti-interference ability of the system, active disturbance rejection control (ADRC) with parameter autotuning is proposed and applied to control a rotary voice coil motor (RVCM). Improved snake optimization (I-SO) was applied to tune and optimize ADRC’s key parameters. To obtain excellent parameters efficiently, in the population initialization phase of SO, the quality and diversity of initial solutions were improved through a chaotic elite opposition learning algorithm. In the local search phase, a sine and cosine (SC) search mode was introduced to enhance the local search ability of SO. The simulation results show that I-SO can effectively find the ideal parameters. I-SO has excellent search capability and stability. The experimental control system of a moving mirror was established, and the effectiveness of the parameters optimized by I-SO was verified. ADRC with parameter autotuning showed excellent control in the moving mirror control system, and the stability of the optical path scanning speed reached 99.2%.

Two-stage Active Disturbance Rejection Control for Coupled Permanent Magnet Synchronous Motors System With Mismatched Disturbance

Two-stage Active Disturbance Rejection Control for Coupled Permanent Magnet Synchronous Motors System With Mismatched Disturbance

The primary frequency modulation control strategy based on fuzzy active disturbance rejection control for gas turbines

Gas turbines play a core role in clean energy supply and construction of comprehensive energy system, and the control performance of primary frequency modulation (PFM) of gas turbine has a great impact on the frequency control of the power grid. However, there are some control difficulties in the PFM control of gas turbines, such as the coupling effect of fuel control loop and speed control loop, slow tracking speed and large variation of operating conditions. To relieve the above difficulties, a control strategy based on the fuzzy-modified active disturbance rejection control (F-MADRC) proposed in this paper. Based on the analyses of the parameter stability region for active disturbance rejection control (ADRC), fuzzy tuning rules of parameters for F-MADRC are designed. Finally, the proposed F-MADRC is applied to the PFM system of MS6001B heavy-duty gas turbine. The simulation results show that the gas turbine unit with the proposed method can obtain the best control performance of the PFM with strong ability to deal with system uncertainties. The proposed method shows good engineering application potential.

A fractional‐order active disturbance rejection control for permanent magnet synchronous motor position servo system

AbstractThis paper introduces a novel control scheme for the permanent magnet synchronous motor (PMSM) position servo system using a fractional‐order active disturbance rejection control (ADRC) approach. Specifically, a first‐order ADRC is employed in the current loop, while a fractional‐order ADRC is designed for the position loop. In the latter, a linear extended state observer (LESO) is utilized to estimate and compensate for disturbances, while a fractional‐order proportional derivative (FO[PD]) feedback controller is employed to enhance the control performance. Moreover, a parameter tuning method is presented based on frequency domain specifications. This technique utilizes the flat phase constraint as a design constraint to ensure that the phase is flat near the gain crossover frequency, thus ensuring that the closed‐loop system remains robust to loop gain variations. Simulation and experimental results demonstrate that the proposed fractional‐order ADRC control scheme yields improved dynamic response, disturbance rejection, and robustness to loop gain variations.

Composite ADRC Speed Control Method Based on LTDRO Feedforward Compensation.

The performance of the extended state observer (ESO) in an Active Disturbance Rejection Control (ADRC) is limited by the operational load in stepper motor control, which has high real-time requirements and may cause delays. Additionally, the complexity of parameter tuning, especially in high-order systems, further limits the ESO's performance. This paper proposes a composite ADRC (LTDRO-ADRC) based on a load torque dimensionality reduction observer (LTDRO). Firstly, the LTDRO is designed to estimate abrupt load disturbances that are difficult to compensate for using the ESO. Secondly, the transfer function under the double-closed loop is deduced. Additionally, the LTDRO uses a magnetic encoder to gather the system state and calculate the load torque. It then outputs a compensating current feedforward to the current loop input. This method reduces the delay and complexity of the ESO, improving the response speed of the ADRC speed ring and the overall response of the system to load changes. Simulation and experimental results demonstrate that it significantly enhances dynamic control performance and steady-state errors. LTDRO-ADRC can stabilize the speed again within 49 ms and 17 ms, respectively, in the face of sudden load increase and sudden load removal. At the same time, in terms of steady-state error, compared with ADRC and CADRC, they have increased by 94% and 88%, respectively. In terms of zero-speed starting motors, the response speed is increased by 58% compared to a traditional ADRC.