Active Disturbance Rejection Control Research Articles

Adaptive linear active disturbance-rejection control strategy reduces the impulse current of compressed air energy storage connected to the grid

The merits of compressed air energy storage (CAES) include large power generation capacity, long service life, and environmental safety. When a CAES plant is switched to the grid-connected mode and participates in grid regulation, using the traditional control mode with low accuracy can result in excess grid-connected impulse current and junction voltage. This occurs because the CAES output voltage does not match the frequency, amplitude, and phase of the power grid voltage. Therefore, an adaptive linear active disturbance-rejection control (A-LADRC) strategy was proposed. Based on the LADRC strategy, which is more accurate than the traditional proportional integral controller, the proposed controller is enhanced to allow adaptive adjustment of bandwidth parameters, resulting in improved accuracy and response speed. The problem of large impulse current when CAES is switched to the grid-connected mode is addressed, and the frequency fluctuation is reduced. Finally, the effectiveness of the proposed strategy in reducing the impact of CAES on the grid connection was verified using a hardware-in-the-loop simulation platform. The influence of the k value in the adaptive- adjustment formula on the A-LADRC was analyzed through simulation. The anti-interference performance of the control was verified by increasing and decreasing the load during the presynchronization process.

Analysis of disturbance factors of magnetorheological damper in continuous impact buffer system

Abstract Magnetorheological (MR) impact buffering systems are widely used in vehicle suspensions, bridge damping, and aircraft landing gear due to their excellent buffering performance and rapid response time. However, under the condition of high-speed continuous impact, magnetorheological damper (MRD) operate in complex environments where various internal and external uncertainties can negatively affect control performance. This paper analyzes the impact of disturbance signals on MR buffering systems and explores control strategies to mitigate these effects. First, we established a hysteresis model based on experimental data and identified parameters using a genetic algorithm to determine the influence of hysteresis disturbances. Next, we developed a temperature model based on the thermal characteristics of SG-MRF2035 magnetorheological fluid, fitting the relationship between temperature and dynamic viscosity to identify temperature disturbances. The results showed that when disturbances were considered, the system exhibited higher peak damping forces and a deviation from the desired ‘platform effect’ in the damping force-displacement relationship. Finally, we applied an Active Disturbance Rejection Control(ADRC) strategy, which effectively compensated for the hysteresis and temperature disturbances, enhancing the system’s robustness. Compared to PID control, the ADRC-controlled system demonstrated lower peak damping forces and a damping force-displacement relationship closer to the desired platform effect.

Efficient nonlinear model predictive and active disturbance rejection control for trajectory tracking of unmanned vehicles

This article proposes an efficient trajectory tracking control strategy of unmanned vehicles. The method is based on nonlinear model predictive control (NMPC) and active disturbance reject control (ADRC). The designed control algorithm considers three challenges including nonlinear characteristics, multiple constraints, and external disturbance. First, NMPC method is presented for the nonlinear vehicle model with multiple constraints. To relax inequality constraints and reduce the heavy calculation burden, the penalty term with the variable factor is added to the cost function, an improved continuous/generalized minimum residual method is proposed to solve NMPC online optimization problem. Then, an ADRC scheme is designed to estimate the unknown disturbance via extended state observer, and compensate them by feedback control law in real time, the corresponding parameters are obtained by a novel particle swarm optimization algorithm to further improve the control precision. It ensures the stability to a certain extent. Finally, the results indicate the designed algorithm can raise the calculation efficiency and meet the real-time requirements, and obviously increase the tracking accuracy and robustness performance.

Speed‐sensorless control for SPMSM via novel exponential super‐twisting ADRC

AbstractAlthough the conventional super‐twisting reaching law (CSTRL) maintains the desired tracking performance for disturbed systems, its implementation is challenging due to its dependence on accurate system dynamics. To mitigate this dependence and reduce chattering of CSTRL, a novel exponential super‐twisting reaching law (NESTRL) is proposed, leveraging the dynamic adaptability of the exponential reaching law and eliminating chattering. By using NESTRL, the proposed controller can achieve a fast response without chattering. Additionally, a comprehensive procedure for finite convergence time analysis is provided. The convergence conditions of the system's state variables are determined using a Lyapunov function, and the stability of system is proven using an algebraic Lyapunov function. Finally, simulations and experimental results demonstrate that the proposed approach is valid and effective, showing improvements compared to the traditional super‐twisting active disturbance rejection control and linear active disturbance rejection control in sensorless control.

Performance evaluation and analysis for hydraulic active suspension using the collaborative control method

Hydraulic active suspension has the coupling characteristics of integrated mechanical-hydraulic-control system, and its performance is also affected by external interference, noise interference, and other factors. Therefore, a novel controller is presented to achieve system-level optimal performances by using the collaborative control method. The proposed collaborative method is provided an implementation framework, and includes outer loop control of Linear Quadratic Regulator (LQR), inside loop control of modified linearized active disturbance rejection control (M-LADRC) and Kalman filter, and so on. In addition, the semi-physical simulation method is used to the simulation and test, and the force tracking control test for hydraulic servo system and Kalman filter test are carried out. Finally, the performance of semi-physical active suspension is compared with that of the ideal active suspension and passive suspension under the different road profile excitation. The superiority and effectiveness are verified for the collaborative control method. The collaborative controller has improved the suspension system performance and is more practical, which is beneficial for the application of the achievements.

Active Disturbance Rejection Control Combined with Improved Model Predictive Control for Large-Capacity Hybrid Energy Storage Systems in DC Microgrids

In DC microgrids, a large-capacity hybrid energy storage system (HESS) is introduced to eliminate variable fluctuations of distributed source powers and load powers. Aiming at improving disturbance immunity and decreasing adjustment time, this paper proposes active disturbance rejection control (ADRC) combined with improved MPC for n + 1 parallel converters of large-capacity hybrid energy storage systems. ADRC is utilized in outer voltage control loops, and improved MPC is employed in inner current control loops of n battery converters. Droop control is adopted to obtain power distribution between n battery converters, and a DC bus voltage compensator is used to compensate voltage deviations and maintain constant DC bus voltage. The low-pass filter (LPF) is adopted to obtain high-frequency power as the reference for the supercapacitor converter, ADRC is also utilized in the outer power control loop, and MPC is employed in the inner current control loop. Compared with traditional observers, the voltage expansion state observer of the proposed ADRC control is independent of the system model and parameters and consequently has strong disturbance immunity, and significantly reduces voltage overshoots during power fluctuations. The MPC-based inner current control loops of n + 1 converters accelerate current response speed and significantly decrease switching losses. Simulation and experimental results indicate that utilizing the proposed control strategies, large-capacity HESS has stronger anti-interference ability, shorter regulation time, smaller switching loss, and simultaneously maintains the stability of the DC bus voltage.

A Novel Feedforward Scheme for Enhancing Dynamic Performance of Vector-Controlled Dual Active Bridge Converter with Dual Phase Shift Modulation for Fast Battery Charging Systems

This paper proposes a novel feedforward control scheme to achieve a very smooth transition from Constant Current (CC) to Constant Voltage (CV) charging modes, the commonly used method for electric vehicle charging applications. Furthermore, a three-loop model-independent Linear Active Disturbance Rejection Control (LADRC)-based system is proposed, replacing the traditional two-loop Proportional-Integral (PI) control system. The extra loop performs a decoupled dq vector control of the inductor current, which is typically not used in single-phase Dual Active Bridge (DAB) systems. This additional loop not only facilitates the optimal determination of both internal and external phase shift angles of a Dual-Phase Shift (DPS) modulator but also lowers the peak input current of the converter, allowing for lower-rated switches. Numerical simulations using MATLAB/Simulink demonstrate the robustness of the proposed control strategy against both input voltage disturbances and load disturbances during the transition from CC to CV charging modes. Hence, the dynamic performance of the charging system is significantly improved with minimal controller effort.

Improved Control Strategy for Dual-PWM Converter Based on Equivalent Input Disturbance

Aiming at the problems of jittering waveforms and poor power quality caused by external disturbances during the operation of a dual-pulse-width-modulation (PWM) converter, an improved terminal sliding mode control and an improved active disturbance rejection control (ADRC) are investigated. The method is based on mathematical models of grid-side and machine-side converters to design the controllers separately, and the balance between the two sides is maintained by the capacitor voltage. An improved terminal fuzzy sliding mode control and equivalent input disturbance (EID)-error-estimation-based active disturbance rejection control are presented on the grid side to improve the voltage response rate, and an improved support vector modulation (SVM)–direct torque control (DTC)–ADRC method is developed on the motor side to improve the robustness against disturbances. Finally, theoretical simulation experiments are built in MATLAB R2023a/Simulink to verify the effectiveness and superiority of this method.

Lower-order linear active disturbance rejection control for electro-hydraulic servo system based on structural invariance compensation

High observer gain is the key to ensuring the full-order active disturbance rejection control (ADRC) performance for electro-hydraulic servo (EHS) systems. However, the noise sensitivity and output time delay limit the observer gain. In this paper, a lower-order linear ADRC is proposed with lower gain and uncompromised disturbance rejection ability. First, the internal nonlinear dynamics and external unknown disturbances of the EHS system are eliminated by introducing the structural invariance compensation (SIC). Then, the original EHS model is transformed into a one-order integral chain structure. A one-order linear ADRC, solving the compensation error of SIC caused by model parameter uncertainty, could be directly developed based on the equivalent model. In addition, a practical and novel b0 tuning method and frequency-domain stability analysis technology are developed. Extensive comparative experiments are carried out to illustrate the effectiveness of the proposed method.

Optimization design of unmanned mining truck path tracking controller based on road adhesion coefficient estimation

Abstract In response to the issues of inaccurate tracking precision caused by continuous turning and variable road adhesion coefficients on complex roads in mining areas for unmanned mining trucks, this paper adopts unscented Kalman filter (UKF) to estimate the road adhesion coefficient. Based on this, an adaptive preview feedforward linear quadratic regulator (LQR) control algorithm is designed using genetic algorithm, feedforward control, and linear quadratic optimal path tracking control methods. Firstly, a nine degree of freedom vehicle dynamics model and a two degree of freedom vehicle lateral dynamics model are established, and the Dugoff model to calculate tire forces is introduced; secondly, utilizing UKF to estimate the road adhesion coefficient, and leveraging active disturbance rejection control for rapid tracking of road curvature, an optimized design of the LQR controller is carried out. Then, the effectiveness of the designed controller was verified through Trucksim/Simulink joint simulation testing. Finally, the hardware in the loop test results showed that the designed controller had good tracking accuracy and strong adaptability in complex road and special working conditions in mining areas.

Active Disturbance Rejection Control of Hydraulic Quadruped Robots Rotary Joints for Improved Impact Resistance

Hydraulic actuated quadruped robots have bright application prospects and significant research values in unmanned area investigation, disaster rescue and other scenarios, due to the advantages of high payload and high power to weight ratio. Among these fields, inevitable collision of robots may occur when contact with unknown objects, step on empty objects, or collapse, all of which have an impact on the working hydraulic system. To overcome the unknown external disturbances, this paper proposes an active disturbance rejection control (ADRC) strategy of double vane hydraulic rotary actuators for the hip joints of the quadruped robots. Considering the order of the valve-controlled actuator model, a three-stage tracking differentiator, a four-stage extended state observer, and a state error feedback controller are designed relatively, and the extended state observer is adopted to observe and compensate the uncertainty of external load torque of the system. The effectiveness of the ADRC method is verified in simulation environment and a single joint experimental platform. Moreover, the impact experiments of the limb leg unit are carried out after introducing the proposed ADRC strategy into hip joint, the limb leg unit of quadruped robots presents better impact resistance ability.

Parameter tuning for active disturbance rejection control of fixed-wing UAV based on improved bald eagle search algorithm

PurposeThis paper aims to develop a method for tuning the parameters of the active disturbance rejection controller (ADRC) for fixed-wing unmanned aerial vehicles (UAVs). The bald eagle search (BES) algorithm has been improved, and a cost function has been designed to enhance the optimization efficiency of ADRC parameters.Design/methodology/approachA six-degree-of-freedom nonlinear model for a fixed-wing UAV has been developed, and its attitude controller has been formulated using the active disturbance rejection control method. The parameters of the disturbance rejection controller have been fine-tuned using the collaborative mutual promotion bald eagle search (CMP-BES) algorithm. The pitch and roll controllers for the UAV have been individually optimized to obtain the most effective controller parameters.FindingsInspired by the salp swarm algorithm (SSA), the interaction among individual eagles has been incorporated into the CMP-BES algorithm, thereby enhancing the algorithm's exploration capability. The efficient and accurate optimization ability of the proposed algorithm has been demonstrated through comparative experiments with genetic algorithm, particle swarm optimization, Harris hawks optimization HHO, BES and modified bald eagle search algorithms. The algorithm's capability to solve complex optimization problems has been further proven by testing on the CEC2017 test function suite. A transitional function for fitness calculation has been introduced to accelerate the ability of the algorithm to find the optimal parameters for the ADRC controller. The tuned ADRC controller has been compared with the classical proportional-integral-derivative (PID) controller, with gust disturbances introduced to the UAV body axis. The results have shown that the tuned ADRC controller has faster response times and stronger disturbance rejection capabilities than the PID controller.Practical implicationsThe proposed CMP-BES algorithm, combined with a fitness function composed of transition functions, can be used to optimize the ADRC controller parameters for fixed-wing UAVs more quickly and effectively. The tuned ADRC controller has exhibited excellent robustness and disturbance rejection capabilities.Originality/valueThe CMP-BES algorithm and transitional function have been proposed for the parameter optimization of the active disturbance rejection controller for fixed-wing UAVs.

An efficient tracking differentiator based active disturbance rejection control for flight environment simulation system

The flight environment simulation system plays a crucial role in aeroengine testing, replicating real mission pressure and temperature conditions. However, existing systems face challenges in handling strong measurement noises and total disturbances during transient tests, leading to inaccurate simulations and potential actuator damage. To address these gaps, an enhanced tracking differentiator based active disturbance rejection control scheme is proposed and implemented. Our method introduces two key innovations: a discrete-time optimal control law that dynamically adjusts control inputs based on state transition and sampling times, and a phase-advancing method that mitigates filtering phase delays by incorporating derivative signals to predict input trends. These components are integrated into a novel tracking differentiator, enhancing the estimation capability of the extended state observer in active disturbance rejection control. Frequency-domain analysis demonstrates the proposed tracking differentiator's superior filtering performance and phase quality. Simulations of intake environment pressure during aeroengine transient tests reveal that, compared to traditional tracking differentiator-based active disturbance rejection control, the proposed approach significantly reduces both control signal oscillations and setpoint deviations by 75.44% and 53.9%, respectively. These improvements effectively address environment simulation deviations and unnecessary actuator wear, thereby enhancing the accuracy and reliability of aeroengine testing.

Model compensation control of composite vertical take-off and landing UAV

Abstract The unmanned aerial vehicle (UAV) system for composite vertical take-off and landing (VTOL) is a complex, highly coupled, and nonlinear system which is sensitive to external disturbances and model uncertainties. The composite VTOL UAV system consists of a multi-rotor section and a fixed-wing section. To improve observation accuracy, the compensation function observer (CFO) uses a new structure that includes velocity information. The CFO is utilised to estimate the uncertainty and the external disturbances of the system model, which performs superior estimation accuracy compared to the extended state observer (ESO). In the modeling process of the VTOL UAV, the aerodynamic moment is calculated by means of the cross-product operation of force and force arm, which solves the problem of over-reliance on aerodynamic parameters in the traditional modeling approach. The controlled object is refined by CFO, and model compensation control (MCC) is used to realise the velocity and attitude control of the composite VTOL. The numerical simulation of MATLAB/Simulink and hardware-in-loop simulation (HIL) of Rflysim were implemented, and which were used to compare the MCC, active disturbance rejection control (ADRC), and proportion integration differentiation (PID). The simulation results confirm the superiority of MCC in controlling composite VTOL UAVs in terms of anti-disturbance and tracking speed.

Enhanced load frequency control using predictive reduced order generalized active disturbance rejection control under communication delay and cyber-attack

Enhanced load frequency control using predictive reduced order generalized active disturbance rejection control under communication delay and cyber-attack

Enhancing Active Disturbance Rejection Control for a Vehicle Active Stabiliser Bar with an Improved Chicken Flock Optimisation Algorithm

An active stabiliser bar significantly enhances the anti-roll capabilities of vehicles. The control strategy is a crucial factor in enabling the active stabiliser bar to function effectively. This paper investigates an active disturbance rejection control (ADRC) strategy. Given the numerous parameters of the ADRC and their significant mutual influence, optimising these parameters is challenging. To address this, an improved chicken flock optimisation algorithm is proposed to optimise the ADRC parameters and enhance its performance. First, a three-degree-of-freedom dynamic model of the vehicle is established, and an active disturbance rejection control-based optimisation model utilising a chicken flock optimisation algorithm is constructed. To tackle the issues of getting stuck in local optima and low precision when dealing with complex problems in the traditional chicken flock optimisation (CFO) algorithm, several strategies, including improved Lévy flight, have been adopted. Subsequently, the twelve parameters of the ADRC are optimised using the improved chicken flock optimisation algorithm. Comprehensive testing on multiple benchmark functions demonstrates that the improved chicken flock optimisation (ICFO) algorithm is distinctly superior to other advanced algorithms in terms of solution quality and robustness. Simulation results show that the ICFO-ADRC controller is significantly superior. In four different complex road condition tests, the ICFO-ADRC controller shows an average performance improvement of 8% compared to the fuzzy PI-PD controller, an average improvement of 82% compared to the non-optimised ADRC controller, and an average improvement of 18% compared to the CFO-ADRC controller. Our findings confirm that this paper was able to provide new solutions for vehicle stability control whilst opening up new possibilities for the application of metaheuristic algorithms.

An improve nonlinear robust control approach for robotic manipulators with PSO-based global optimization strategy

During the trajectory tracking of robotic manipulators, many factors including dead zones, saturation, and uncertain dynamics, greatly increase the modeling and control difficulty. Aiming for this issue, a nonlinear active disturbance rejection control (NADRC)-based control strategy is proposed for robotic manipulators. In this controller, an extended state observer is introduced on basis of the dynamic model, to observe the extend state of model uncertainties and external disturbances. Then, in combination with the nonlinear feedback control structure, the robust trajectory tracking of robotic manipulators is achieved. Furthermore, to optimize the key parameters of the controller, an improved particle swarm optimization algorithm (IPSO) is designed using chaos theory, which improves the tracking accuracy of the proposed NDRC strategy effectively. Finally, using comparative studies, the effectiveness of the proposed control strategy is demonstrated by comparing with several commonly used controllers.

Single closed-loop active disturbance rejection control strategy of permanent magnet synchronous motor based on compensation function

Single closed-loop active disturbance rejection control strategy of permanent magnet synchronous motor based on compensation function

Levitating Control System of Maglev Ruler Based on Active Disturbance Rejection Controller

The autonomous displacement and displacement measurement functions of the maglev ruler are performed by the mover core. The magnetic levitation ruler can serve as a viable alternative to the linear measurement system of a coordinate measuring machine. The stability of the four magnetic fields in air gaps and the levitation position of the maglev ruler is one of the key factors for the stability of the thrust force on the power core, and it is also one of the key factors for ensuring the precision of the maglev ruler. There is cross-coupling between the two ends of the mover core of the maglev ruler, resulting in a strongly coupled, nonlinear, multi-input and multi-output system for the levitating system of the maglev ruler. This paper establishes a mathematical model for the levitating system of the maglev ruler and designs a levitating control system for the maglev ruler based on an active disturbance rejection control algorithm to achieve decoupling and disturbance suppression. Through simulation analysis and experimental testing of the levitating system with starting and disturbance, it is proved that the levitating control system of the maglev ruler has good dynamic characteristics, static characteristics, and robustness.

Load Frequency Optimal Active Disturbance Rejection Control of Hybrid Power System

The widespread adoption of the power grid has led to increased attention to load frequency control (LFC) in power systems. The LFC strategy of multi-source hybrid power systems, including hydroelectric generators, Wind Turbine Generators (WTGs), and Photovoltaic Generators (PVGs), with thermal generators is more challenging. Existing methods for LFC tasks pose challenges in achieving satisfactory outcomes in hybrid power systems. In this paper, a novel method for the multi-source hybrid power system LFC task by using an optimal active disturbance rejection control (ADRC) strategy is proposed, which is based on the combination of the improved linear quadratic regulator (LQR) and the ADRC controller. Firstly, an established model of a hybrid power system is presented, which incorporates multiple regions and multiple sources. Secondly, utilizing the state space representation, a novel control strategy is developed by integrating improved LQR and ARDC. Finally, a series of comparative simulation experiments has been conducted using the Simulink model. Compared with the LQR with ESO, the maximum relative error of the maximum peaks of frequency deviation and tie-line exchanged power of the hybrid power system is reduced by 96% and 83%, respectively, by using the proposed strategy. The experimental results demonstrate that the strategy proposed in this paper exhibits a substantial enhancement in control performance.