Good Disturbance Rejection Performance Research Articles

Robust Consensus Tracking Control of Uncertain Multi-Agent Systems With Local Disturbance Rejection

In this paper, a new distributed consensus tracking protocol incorporating local disturbance rejection is devised for a multi-agent system with heterogeneous dynamic uncertainties and disturbances over a directed graph. It is of two-degree-of-freedom nature. Specifically, a robust distributed controller is designed for consensus tracking, while a local disturbance estimator is designed for each agent without requiring the input channel information of disturbances. The condition for asymptotic disturbance rejection is derived. Moreover, even when the disturbance model is not exactly known, the developed method also provides good disturbance-rejection performance. Then, a robust stabilization condition with less conservativeness is derived for the whole multi-agent system. Further, a design algorithm is given. Finally, comparisons with the conventional one-degree-of-freedom-based distributed disturbance-rejection method for mismatched disturbances and the distributed extended-state observer for matched disturbances validate the developed method. Manuscript received May 13, 2022; accepted June 12, 2022. This work was supported by the National Natural Science Foundation of China (62003010, 61873006, 61673053), the Beijing Postdoctoral Research Foundation (Q6041001202001), the Postdoctoral Research Foundation of Chaoyang District (Q1041001202101), and the National Key Research and Development Project (2018YFC1602704, 2018YFB1702704). Recommended by Associate Editor Xiaohua Ge. (Corresponding author: Pan Yu.)

Proportion integral-type active disturbance rejection generalized predictive control for distillation process based on grey wolf optimization parameter tuning

The high-purity distillation column system is strongly nonlinear and coupled, which makes it difficult to control. Active disturbance rejection control (ADRC) has been widely used in distillation systems, but it has limitations in controlling distillation systems with large time delays since ADRC employs ESO and feedback control law to estimate the total disturbance of the system without considering the large time delays. This paper designs a proportion integral-type active disturbance rejection generalized predictive control (PI-ADRGPC) algorithm to control the distillation column system with large time delay. It replaces the PD controller in ADRC with a proportion integral-type generalized predictive control (PI-GPC), thereby improving the performance of control systems with large time delays. Since the proposed controller has many parameters and is difficult to tune, this paper proposes to use the grey wolf optimization (GWO) to tune these parameters, whose structure can also be used by other intelligent optimization algorithms. The performance of GWO tuned PI-ADRGPC is compared with the control performance of GWO tuned ADRC method, multi-verse optimizer (MVO) tuned PI-ADRGPC and MVO tuned ADRC. The simulation results show that the proposed strategy can track reference well and has a good disturbance rejection performance.

Memristor‐based disturbance rejection control for port‐Hamiltonian systems with locally fixed‐time convergence

The memristor is added to the port-Hamiltonian systems to improve the disturbance suppression performance in this paper. The concepts of locally fixed-time stability and locally fixed-time H ∞ $H_{\infty }$ control of port-Hamiltonian systems are presented. From this starting point, two novel memristor-based locally fixed-time controllers are designed to suppress the external disturbance of port-Hamiltonian systems via the interconnection and damping assignment passivity-based control technique. Comparing with the classical interconnection and damping assignment passivity-based control methodology without memristor, there are some advantages. First, the settling-time related to the memristor-based controllers in stabilizing the same port-Hamiltonian systems are shorter. Second, the memristor-based controllers can make the oscillation in the case of the strong periodic disturbance be better suppressed. Theoretical analysis shows that the memristor-based controller possesses good disturbance rejection performance owing to it can make the system states in a neighbourhood accelerate convergence to the desired equilibrium point. Two illustrative examples show that the theoretical results and the controllers designed in this paper work very well.

Speed and Rotor Position Identification of Permanent Magnet Synchronous Motor Based on ADRC

Aiming at the accurate estimation of rotor speed and position of surface- mounted permanent synchronous motor, a scheme using extended state observer in the two phase static frame is constructed. The conventional method estimating the rotor speed and position in two phase synchronized rotation reference frame has the problem of error accumulation of the estimated rotor position which was calculated by angular velocity estimated value integral. This method avoids those problems and has advantages. The speed and current closed loop control system is constructed by using the auto disturbance rejection controller to replace the PI regulator. The simulation results validate the accuracy of the rotor speed and position is higher, and the system is stable and has good disturbance rejection performance.

A Relay Feedback Method for the Tuning of Linear Active Disturbance Rejection Controllers

Active disturbance rejection control (ADRC) is a new control method that estimates the total disturbance by an extended state observer and compensates it by a state feedback law, and good disturbance rejection performance is expected compared to traditional PID control method. However, the parameters of ADRC are hard to tune, even for linear ADRC (LADRC). This paper proposes a new tuning method for second-order LADRC based on relay feedback, which is simple to implement without knowing the information of the controlled plant. Simulation examples show that the proposed method can achieve good performance in disturbance rejection and robust performance. The tuning rule is also tested for the control of a steam condenser. Compared with PID, the proposed method has smaller overshoot and shorter settling time.

A Novel Strategy Based on Linear Active Disturbance Rejection Control for Harmonic Detection and Compensation in Low Voltage AC Microgrid

In an AC microgrid, harmonic distortion is mainly caused by power electronic equipment and nonlinear loads. In this paper, linear active disturbance rejection control (LADRC) is used to control the fundamental current at the point of common coupling (PCC). Meanwhile, an active power filter (APF) is added to eliminate the harmonic current generated by the nonlinear loads. The tracking differentiator (TD) in active disturbance rejection control (ADRC) serves as a low-pass filter (LPF) in the harmonic detection algorithm of APF. Compared to traditional harmonic detection algorithms, the improved strategy solves the contradiction between rapidity, accuracy, and overshoot of filtering. LADRC has good performance of disturbance rejection, internal decoupling, and accessible parameters tuning. It can observe the internal uncertainty and external disturbance of the system as the total disturbance through the extended state observer (ESO), and compensate it in time through state feedback to make the system achieve the desired performance. The abilities of resonance suppression for LCL-type filter and internal decoupling of LADRC demonstrates its advantages through frequency domain analysis and simulation. The proposed strategy was simulated in MATLAB/SIMULINK and realized in the experimental hardware platform, and the effectiveness of the proposed strategy is approved.

Tuning of linear active disturbance rejection controller with robustness specification

Active disturbance rejection control (ADRC) treats all the model uncertainties and all the external disturbances as a generalized disturbance. It uses an extended state observer (ESO) to estimate the generalized disturbance in real time, and compensate it using a state-feedback control law, thus can achieve good disturbance rejection performance. For linear ADRC (LADRC), the parameters can be tuned via the bandwidths of the ESO and the feedback control, thus an LADRC can be regarded as a fixed-structured controller with several parameters to tune, just like a PID controller. To help tuning the parameters of LADRC, a tuning rule is proposed in this paper, with the aim to minimize the load disturbance attenuation performance in the integral of time square error sense, under the constraint of a specified robustness measure for the first-order processes with deadtime. The tuning rule is tested for a variety of benchmark systems and the gravity drained tanks case, and the performances are compared with the well-known PID tuning methods.

Control of unstable processes with time delays via ADRC

Active disturbance rejection control (ADRC) treats the external disturbance and internal uncertainties as a general disturbance, and uses an extended state observer (ESO) to estimate it in real-time and feeds it back in the control loop, thus can achieve good disturbance rejection performance. However, ADRC is not quite suitable for unstable delayed processes due to its inherent structure. In this paper, a two-degree-of-freedom (2DOF) control structure is proposed for unstable time- delayed systems. Set-point tracking and disturbance rejection are separated in this structure and ADRC is solely responsible for disturbance rejection. A method to tune the ADRC parameters using all the information of the system is proposed, and robustness and performance of the proposed method are analyzed. Simulation examples show that 2DOF-ADRC can achieve good tracking and disturbance rejection performance.

Design of decentralized proportional–integral–derivative controller based on decoupler matrix for two-input/two-output process with active disturbance rejection structure

The framework of the active disturbance rejection internal model control is proposed to solve the problem of the model reduced-order error in the process of the controller design for two-input/two-output system with time delay. In the controller design process of the two-input/two-output system, the decoupler matrix method is used to decompose a multi-loop control system into a set of equivalent independent single loops. Then, a complex equivalent model is obtained, and its order should be reduced for each individual loop. Maclaurin series method is used to reduce the order of the decoupling model. After reducing model order, the proposed method is applied to lessen the effect of the reduced-order error and improve the anti-interference ability and robustness for the control system. Simulation results show that the proposed method possesses a good disturbance rejection performance.

Anti-disturbance autopilot design for missile system via finite time integral sliding mode control method and nonlinear disturbance observer technique

In this paper, a composite anti-disturbance autopilot design for a missile system is proposed based on finite time integral sliding mode control scheme and nonlinear disturbance observer technique. First, a nonlinear disturbance observer is developed to estimate the external disturbances with partial known information. Second, in order to obtain good disturbance rejection performance and reject the other type of disturbances, a finite time integral sliding mode control strategy is employed to the design of a feedback controller. Third, an improved adaptive composite anti-disturbance autopilot is given to avoid the inaccuracy of the upper bound of external disturbances. Finally, simulation results are employed to demonstrate the effectiveness of the proposed method.

Design of active disturbance rejection internal model control strategy for SISO system with time delay process

A novel control scheme of active disturbance rejection internal model control (ADRIMC) is proposed to improve the anti-interference ability and robustness for the dead-time process. The active anti-interference concept is introduced into the internal model control (IMC) by analyzing the relationship between IMC and disturbance observer control (DOB). Further, a design process of disturbance filter is presented to realize the active anti-interference ability for ADRIMC scheme. The disturbance filter is used to estimate an equivalent disturbance consisting of both external disturbances and internal disturbances caused by model mismatches. Simulation results demonstrate that the proposed method possesses a good disturbance rejection performance, though losing some partial dynamic performance. In other words, the proposed method shows a tradeoff between the dynamic performance and the system robust.

Decentralized ADRC for LFC in Deregulated Environments

Active disturbance rejection control (ADRC) method is investigated in this paper to design decentralized load frequency controllers (LFC) for deregulated multi‐area power systems. ADRC can treat the connections among control areas and the effects of possible contracts as new disturbance signals, and uses an extended state observer (ESO) to estimate and compensate them quickly. Thus, it can achieve good disturbance rejection performance and is a good candidate for LFC design. Simulation results for a three‐area power system show that the proposed method is simple to apply in practice and good performance can be achieved.

Load frequency control in deregulated environments via active disturbance rejection

Abstract Linear active disturbance rejection control (LADRC) method is investigated for the load frequency control (LFC) of power systems in deregulated environments. The connections between one area and the rest of the system and the effects of possible contracts are treated as a set of new disturbances besides the system load. LADRC uses an extended state observer (ESO) to estimate the disturbances and compensates them quickly. Thus it can achieve good disturbance rejection performance and is a good candidate for LFC design. The proposed method is tested on two power systems. Simulation results show that the LADRC is simple to tune for load frequency control systems, and good performance can be achieved.

3D23 Acceleration control of 3DOF shaking table which can suppress reaction force from test models(The 12th International Conference on Motion and Vibration Control)

Vibration testing using a shaking table is a useful method for estimation of the aseismic capacity of a building. Therefore, many engineers are researching the breakdown process of buildings by vibration testing to evaluate their aseismic capacity. A vibration testing system needs to operate correctly to carry out effective examinations, but in many cases the device does not run accurately because of reaction force from the test models and cross-axis sensitivity. Especially, the multi-degree of freedom (DOF) shaking table that includes rotational DOFs is greatly influenced by the reaction force. As a result, we cannot measure the exact frequency response characteristic of the test model. Therefore, the control method of a 3 DOF electromagnetic shaking system, which includes rotational DOF, is discussed in this study. The purpose of this study is to design an acceleration control system with good tracking performance and good disturbance rejection performance. Here, we show that the test model using the proposed control system for the shaking table gives the exact frequency response. The controller is designed based on the Dual Model Matching control method, and its effectiveness is proved experimentally.

Research on Passivity Based Controller of Three Phase Voltage Source PWM Rectifier

Euler-Lagrange (EL) model of voltage source PWM rectifier is set up based on its model in synchronous dq coordinates. Passivity based controller is designed on the basis of passivity and EL model of voltage source PWM rectifier. Three switching function are educed by passivity based controller. A switching function is only realized in engineering consequently. Voltage source PWM rectifier using passivity based controller has many advantages, such as simpler structure, low total harmonic distortion, and good disturbance rejection performance. Passivity based control law is proved feasible by simulink simulation. DOI: http://dx.doi.org/10.11591/telkomnika.v10i5.1343

230 試験体反力の抑制を考慮した3自由度電動加振機の変位制御

In recent years many engineers research for breakdown process of a building by vibration testing in order to grasp aseismic capacity. A shaking table needs to operate correctly for having experimental results. However, in many cases a shaking table does not move accurately because of reaction force of specimen on the shaking table and cross-axis sensitivity. So this study shows the control method of the shaking table as one of solution. More specifically, this study presents design of displacement control system with good tracking performance and good disturbance rejection performance. This controller is designed by Dual Model Matching control method. The effectiveness of the control method is tested by applying to 3-DOF electro dynamic shaking system.

광 디스크 드라이브 서보 설계를 위한 강건 제어 이론의 적용 및 평가 : H∞vs. QFT

In this paper, the various uncertainties generated in an optical disk drive (ODD) and the robust servo designs considering the uncertainties are studied. First, the brief introduction an ODD and the servo error tolerance of it are discussed. Then, the classifications of uncertainty and the concept of relative stability are introduced. Considering the uncertainty of an ODD, two robust control approaches are applied: (i) mixed sensitivity approach in H<TEX>$\infty$</TEX> control theory for unstructured uncertainty, (ii) QFT for structured uncertainty Finally, the designed controllers are realized by DSP, and these controllers are applied to a commercial DVD-ROM drive. From these experiments, we prove that the designed robust controllers have more good disturbance rejection performance and robustness when it is compared to the conventional lead-lag controller.

Two-Degrees-of-Freedom Control System of Superconducting Maglev Train

This paper deals with the two-degrees-of-freedom control system of Superconducting Maglev train. In the Yamanashi Maglev Test Line, LSM is controlled with the PI control system that is composed of velocity controlled loop and phase locked loop. Over the past two years this control system has had a good performance from high speed to low speed.From a riding comfortable point of view, we have to improve it at the point of changing acceleration. Generally we reduce the feedback gain of velocity controlled loop to lessen overshoot that is the cause of deterioration of riding comfort. However with this method, not only the characteristics of tracking performance but also the characteristics of disturbance rejection is changed. Running tests have shown the good performance of disturbance rejection, therefor the changing of that performance is not so good. Because of this reason, we apply the two-degrees-of-freedom control system to lessen overshoot. With this system, we are able to adjust the tracking performance apart from disturbance rejection.In this paper, firstly we report the configuration and basic characteristics of the two-degrees-of-freedom control system and then we show the experimental results at the Yamanashi Maglev Test Line.