Linear Active Disturbance Rejection Control Research Articles

Precise pose control of shaft boring machine considering the characteristic of stratum

The shaft boring machine (SBM) is innovatively applied to shaft engineering with depth and large diameter for the advantages of efficiency, adaptability, and safety. The manual and rough pose control of SBM blocks the improvement of engineering quality and efficiency. This article presents a precise pose control method for SBM considering the characteristics of strata. The kinematic model of SBM and the mechanical-hydraulic-rock coupled dynamic model of grippers actuator are established considering the characteristics of different surrounding rock, respectively. A test rig is established to validate these models. The stratum-adapted double-layer controller is designed for the pose control from the practical aspects, including the deviation and inclination of the SBM center. The upper layer devotes to the kinematic planning between pose and displacement of grippers. The linear active disturbance rejection control (LADRC) method is used to control each gripper in the lower layer. The compensation control strategy is proposed to improve the reliability of the system under the different strata conditions. The stratum-adapted property is validated with the simulation of different surrounding rock characteristics. The control test under hard rock condition is performed with the test rig. The results indicate that the displacement control error of the single gripper cylinder is less than 1.8%, and the corresponding control error of deviation and inclination angle of the SBM center is less than 2.1% and 2.3% respectively. The proposed method can cover the precise pose control under different strata conditions, and it can be applied in the shaft infrastructure construction practically.

Attitude Control of a Mass-Actuated Fixed-Wing UAV Based on Adaptive Global Fast Terminal Sliding Mode Control

Compared with traditional control methods, moving mass control (MMC) enhances the aerodynamic efficiency and stealth performance of fixed-wing unmanned aerial vehicles (FWUAVs), thereby facilitating their broader application in military and civilian fields. Nevertheless, this approach increases system complexity, nonlinearity, and coupling characteristics. To address these challenges, a novel attitude controller is proposed using adaptive global fast terminal sliding mode (GFTSM) control. Firstly, a dynamic model is established based on aerodynamics, flight dynamics, and moving mass dynamics. Secondly, to improve transient and steady-state responses, prescribed performance control (PPC) is adopted, which enhances the controller’s adaptability for mass-actuated aircraft. Thirdly, a fixed-time extended state observer (FTESO) is utilized to solve the inertial coupling issue caused by mass block movement. Additionally, the performance of the entire control system is rigorously proven through the Lyapunov function. Finally, numerical simulations of the proposed controller are compared with those of PID and linear ADRC in three different conditions: ideal conditions, fixed aerodynamic parameters, and nonlinear aerodynamic parameter changes. The results indicate that the controller effectively compensates for the system’s uncertainty and unknown disturbances, ensuring rapid and accurate tracking of the desired commands.

Development and Experiment of Semi-Physical Simulation Platform for Space Manipulator.

To address the extended development cycle, high costs, and maintenance difficulties associated with existing microgravity simulation methods, this study has developed a semi-physical simulation platform for robotic arms tailored to different gravity environments and loading conditions. The platform represents difficult-to-model joints as physical objects, while the easily modeled components are simulated based on principles of similarity. In response to the strong coupling, nonlinearity, and excess force disturbance issues in the electric variable load loading system, a fractional-order linear active disturbance rejection control algorithm was employed. The controller parameters were tuned using an improved particle swarm algorithm with modified weight coefficients, and experimental results demonstrate that a fractional-order linear active disturbance rejection control improves response speed and disturbance rejection performance compared to linear sliding mode control. The study investigated the differences in the drive force of joint motors in space robotic arms under varying gravity environments and loading conditions. Experimental results indicate that load torque is the primary influencing factor on joint motor drive force, while radial force serves as a secondary influencing factor. Additionally, when the axis of the joint motor is perpendicular to the ground, it can, to some extent, simulate microgravity conditions on the ground.

Research on Backstepping Linear Active Disturbance Rejection Control of Hypersonic Vehicle

Research on Backstepping Linear Active Disturbance Rejection Control of Hypersonic Vehicle

Active Disturbance Rejection Control of Permanent Magnet Synchronous Motor Based on RPLESO

In view of the problem of the low-speed jitter of household lawn mowers driven by a permanent magnet synchronous motor (PMSM) at low speeds and high torque, and the complicated parameters of traditional non-linear active disturbance rejection controllers, a partially optimized linear active disturbance rejection control (LADRC) driving PMSM strategy is proposed. First, the linear extended state observer (LESO), which bears a significant burden in terms of speed and load estimation in active disturbance rejection control, is optimized by reducing its order to improve the anti-disturbance performance of the active disturbance rejection controller within a limited bandwidth. Secondly, the reduced-order parallel linear extended state observer (RPLESO) is obtained by optimizing the parallel structure of the order-reduced LESO, which improves the control precision and robustness of the system. Through a simulation and experimental verification, the optimized LADRC control of the PMSM system is shown to improve the parameter adjustability, speed estimation precision and system robustness.

Depth control of ROV using the improved LADRC based on nutcracker optimization algorithm

Aiming at the problem of automatic depth control for Remotely Operated Vehicle (ROV) under complex disturbed environment, this paper designs a control scheme used the improved Linear Active Disturbance Rejection Controller (LADRC) based on nutcracker optimization algorithm (NOA). Firstly, in order to solve the disturbance problem in the depth control process of ROV under complex disturbed environment, the LADRC is applied to the depth control of ROV to improve the disturbance rejection capability of the system. After that, due to the difficulty and uncertainty of LADRC parameter tuning, the global search capability of nutcracker optimization algorithm is used to optimize the LADRC controller. It realizes the automatic tuning of LADRC parameters, thus realizes the fast and high-accuracy depth control. Finally, the simulation and experimental verification are completed. The overshooting amount of the NOA-LADRC control scheme in the depth control of ROV is almost zero, the control accuracy and disturbance rejection capability are improved by about 50%.

Optimised linear active disturbance rejection control of multiport-isolated DC-DC converter for hydrogen energy storage system integration

Hydrogen energy storage systems are becoming increasingly accepted owing to their environmental friendliness. The efficiency and performance of these systems largely depend on the attributes of their power electronic interface systems. Among the promising solutions is a multiport-isolated DC-DC converter with characteristics of reduced component count, fewer conversion stages, and galvanic isolation. However, this system presents a challenge due to its inherent cross-coupling effect, complicating precise control. To address this, linear active disturbance rejection control (LADRC) is a viable option, leveraging dynamic/disturbance properties observed by linear extended state observers. LADRC serves as a decoupling controller, mitigating the cross-coupling effect. However, LADRC has several gains, and selecting them can be a difficult task, often requiring manual tuning. To streamline this process, this paper proposes utilising particle swarm optimisation to determine the optimum gains of LADRC. By employing this approach, the implementation of LADRC is facilitated with reduced design efforts while ensuring effective decoupling control within the system. Simulations are conducted to validate the performance of the optimised gain LADRC.

Improved Linear Active Disturbance Rejection Control With Dynamic Event-Triggered Mechanism for Hybrid Energy Storage System

Improved Linear Active Disturbance Rejection Control With Dynamic Event-Triggered Mechanism for Hybrid Energy Storage System

Improved linear/nonlinear active disturbance rejection switching control for bearingless induction motor

ABSTRACT To achieve high-performance operation control for bearingless induction motor (BIM) systems, an improved linear/nonlinear active disturbance rejection switching control strategy is proposed (SADRC). The key innovation lies in the automatic switching between linear and nonlinear control modes based on system stability and disturbance magnitude. First of all, based on the principle of air-gap magnetic field directional control of the BIM, the first-order and second-order ADRC are designed for the rotating and suspending parts of the BIM, respectively. In addition, the nonlinear active disturbance rejection control (NLADRC) has the shortcoming of tracking performance degradation when the disturbance amplitude is large. Then, an active disturbance rejection controller that can automatically switch between linear and nonlinear based on the stability of the system and the magnitude of the disturbance is designed with the introduction of linear active disturbance rejection control (LADRC). The trigonometric function is introduced to improve the fal function to optimise the abrupt change at the linear interval and the high-frequency chattering phenomenon at the origin. The unknown parameters are rectified using the bandwidth method and the particle swarm algorithm, respectively, to ensure the robustness and adaptiveness of the control strategy. Finally, both simulation and experimental results show that the proposed SADRC strategy not only combines the advantages of linear and nonlinear self-anti-disturbance control but also improves the BIM rotor suspension performance and anti-disturbance capability.

LADRC-based grid-connected control strategy for single-phase LCL-type inverters.

To ensure that grid-connected currents are of high quality, it is crucial to optimize the dynamic performance of grid-connected inverters and their control. This study suggests using a combination of reduced-order linear active disturbance rejection control (LADRC) and a Proportional-Integral (PI) controller. By applying this control strategy to a single-phase photovoltaic grid-connected system, the system's ability to suppress grid harmonics is significantly improved. The validity and effectiveness of this control approach have been confirmed through simulations and experiments. The results show that the LADRC-based control system is robust and capable of rejecting disturbances, resulting in a significant reduction in the Total Harmonic Distortion (THD) of grid-connected currents. Comparative analysis with traditional control methods demonstrates the superior performance of the proposed approach.

Evaluation of control techniques for quadcopter UAV attitude tracking

ABSTRACT This paper evaluates the performance of six controllers used for the attitude tracking of the quadcopter. The evaluation is done by testing the tracking performance and robustness of each controller with respect to unknown dynamics, disturbances, gain variations, and noise. These controllers include the well-known Proportional-Integral-Derivative (PID) controller to establish a baseline, the Linear Active Disturbance Rejection Controller (LADRC), the first-order Sliding Mode Controller (SMC), the second-order Super-Twisting SMC (STSMC), the Backstepping Controller (BSC), and synergetic controller. To ensure a fair and systematic evaluation, the parameters of each control method were optimised using a Particle Swarm Optimizer (PSO), incorporating a penalty term to maintain realistic control signals while minimising error. The paper details the control techniques used and describes the optimisation process. The results suggest the superiority of LADRC over the other controllers. In the conclusion section, the paper presents several prospective strategies aimed at enhancing the discussed control techniques.

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 and Wiley Periodicals LLC.

Research on longitudinal control technology in the transition section of tilt-rotor aircraft based on linear active disturbance rejection control

To solve the problem of strong coupling and control redundancy in the transition section of the tilt-rotor, this paper presents a longitudinal control method based on linear active disturbance rejection control (LADRC), verified by simulation. Firstly, the nonlinear dynamics model of tilt-rotor aircraft based on the mechanism method is established, and the model’s accuracy is verified by comparing the trim result with the generic tilt-rotor aircraft simulation (GTRS) model verified by flight test in XV-15. Then, the control and redundant rudder surface assignment strategies for tilt-rotor aircraft are proposed. Then, the vertical and vertical control law of tilt-rotor aircraft is designed, the linear expansion state observer (LESO) model is analyzed and derived, and the linear active disturbance rejection controller suitable for attitude loop control of tilt-rotor is designed. The altitude and velocity loops are controlled. Finally, the proposed linear active disturbance rejection control (LADRC) controller is verified by simulation, and the whole process of tilting transition is simulated. The results show that the proposed control strategy and the controller designed in this paper have strong anti-disturbance ability, fast response speed, and high control precision and can be used in the transition section of tilt-rotor aircraft. The vertical direction shall be well controlled.

Hydrogen doping control method for gasoline engine acceleration transient air-fuel ratio

One of the primary contributors to automobile exhaust pollution is the significant deviation between the actual and theoretical air-fuel ratios during transient conditions, leading to a decrease in the conversion efficiency of three-way catalytic converters. Therefore, it becomes imperative to enhance fuel economy, reduce pollutant emissions, and improve the accuracy of transient control over air-fuel ratio (AFR) in order to mitigate automobile exhaust pollution. In this study, we propose a Linear Active Disturbance Rejection Control (LADRC) Hydrogen Doping Compensation Controller (HDC) to achieve precise control over the acceleration transient AFR of gasoline engines. By analyzing the dynamic effects of oil film and its impact on AFR, we establish a dynamic effect model for oil film and utilize hydrogen's exceptional auxiliary combustion characteristics as compensation for fuel loss. Comparative experimental results demonstrate that our proposed algorithm can rapidly regulate the AFR close to its ideal value under three different transient conditions while exhibiting superior anti-interference capability and effectively enhancing fuel economy.

Grid control strategy of wind turbines based on LADRC voltage control

Traditional grid-controlled wind turbines are required to rely on AC power grid operation, but when the power grid fluctuates, it will cause a series of oscillation instability problems in wind turbines, such as low-frequency oscillation, subsynchronous oscillation, etc. The safe and stable operation of the crisis power grid needs to be ensured. In this study, the virtual synchronous machine is supposed to be adopted as the main control strategy for grid-type control, transforming the traditional system into a more robust and reliable one. Additionally, a converter model of the grid-type control network is set up. By implementing grid-type control, voltage support and frequency support can be offered without relying solely on AC power grid operation. This approach effectively addresses issues caused by preventive such as reliance on wind turbines. The stability of the networked control system is dependent on maintaining stable system power. When there are fluctuations in system power, it impacts the stability of the networked control system. To mitigate these effects and enhance overall stability, this paper proposes using linear active disturbance rejection control (LADRC) based voltage and grid controls to suppress voltage fluctuations through linear active disturbance rejection techniques. The overall system performance is demonstrated through simulations conducted using Matlab/Simulink platform.

Oxygen starvation control of proton exchange membrane fuel cell through fusion control strategy

Oxygen excess ratio (OER) is regarded as a significant indicator of the safety and efficient operation of the open-cathode proton exchange membrane fuel cell (PEMFC) system. This is because inappropriate OER is prone to the phenomenon of oxygen starvation and oxygen saturation under load conditions change frequently. To avoid the phenomenon, this paper integrates linear active disturbance rejection control (LADRC) and proportional integral differential (PID) control to regulate OER of fuel cell air supply system, which effectively combines model-based and data-driven LADRC structure. As the controller parameters directly affect the control performance and it is difficult to obtain the optimal control parameters. Especially, when the load conditions change, the control parameters are difficult to adapt the load changes. To this end, a snake optimization (SO) algorithm with easy implementation and fast convergence is used to realtime update the controller parameters, which can further improve the control effects. Firstly, an equivalent linear model of fuel cell air supply system is established. Secondly, a hybrid LADRC method is developed by combining the merits of the LADRC and PID methods. Thirdly, the SO algorithm is used to optimize the controller parameters, which can achieve the optimal control parameters. Finally, the results revealed that the proposed method has a faster response with less noise sensitivity against the load changes and stronger robustness than the other methods.

Wind–PV–Battery Hybrid Off-Grid System: Control Design and Real-Time Testing

The paper presents the design and implementation of decentralized control for a PV–wind–battery hybrid off-grid system with limited power electronics devices and sensors. To perform well without using any maximum power point tracking (MPPT) technique from the wind turbine (WT) based on a permanent-magnet brushless DC generator (PMBLDCG) and solar panels (PVs) and balance the power in the system, a cascade control structure strategy based on a linear active disturbance rejection controller (LADRC) is developed for the two-switch DC-DC buck-boost converter. Moreover, to ensure an uninterruptible power supply to the connected loads with a constant voltage and frequency, a cascade d-q control structure based on LADRC is developed for the interfacing single-phase inverter. Furthermore, the modeling and controller parameters design are presented. The performance under all operation conditions of the hybrid off-grid configuration and its decentralized control is validated by simulation using MATLAB/Simulink and in real-time using a small-scale hardware prototype.

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.

The application of virtual synchronous generator technology in inertial control of new energy vehicle power generation

Introduction: With the rapid development of human society and economy, the power generation technology of various new energy vehicles has begun to receive widespread attention.Methods: Due to the lack of inertia and frequency stability in the new energy vehicle power generation system, this paper proposes a power generation control method that combines linear active disturbance rejection control technology and virtual synchronous generator technology. This method first introduces the control strategy and inertial response of the virtual synchronous generator. Then, it uses linear active disturbance rejection control technology to improve the virtual synchronous generator technology to deal with the uncertainty and external interference in the system.Results: The results showed that when the virtual inertia coefficient was 0, and the new energy vehicles would hardly intervene in the regulation of the grid voltage. When the virtual inertia coefficient was 5, the decline rate of the DC bus voltage of new energy vehicles had slowed down. When the virtual inertia coefficient increased, the power output of new energy vehicles can be increased to the grid. When the load suddenly increased, and the corresponding DC bus voltage decreased more slowly. In the VSG output power comparison, under the research method, the frequency fluctuation only increased by 0.09 Hz and returned to the rated frequency of 50 Hz. Additionally, the dynamic process of the system output power was the shortest, lasting only 0.05 s.Discussion: The above results show that the research method has significant superiority and effectiveness in improving the inertial response and overall stability of the new energy vehicle power system.

Quadrotor attitude control by improved snake optimizer based adaptive switching disturbance rejection approach

In this paper, an adaptive switching anti-disturbance attitude control scheme based on improved snake optimizer (SO) is proposed for quadrotor attitude control when a quadrotor unmanned aerial vehicle is affected by measurement noise. The adaptive switching disturbance rejection controller (AWDRC) is composed of linear active disturbance rejection control and adaptive switching extended state observer which is used to achieve accurate signals reconstruction performance under measurement noise. Then, the improved SO (ISO) algorithm is developed with quadratic interpolation and comprehensive learning strategies to obtain the optimal parameters of the quadrotor attitude controller. The performance validity of ISO is demonstrated here by experiments on the CEC-2017 and the CEC-2020 benchmark functions with several state-of-the-art meta-heuristic algorithms. Secondly, the proposed ISO-based AWDRC algorithm is used in quadrotor attitude tracking control and compared with three other excellent active disturbance rejection controllers in a comparative experiment, and the experimental results show the effectiveness of the proposal. Finally, the robustness of the proposed method to parameters perturbation of the quadrotor attitude system is analyzed by Monte Carlo experiments.