Research of Parameter Tuning on Active Disturbance Rejection Controller

This paper introduces tracking control method for robot manipulator based on Active Disturbance Rejection Control technique (ADRC). The main purpose of the ADRC technique is to obtain a proper estimation, cancel the total disturbance along with the assurance of a good trajectory tracking. First, the equations of motion of the robot manipulator is rearranged to be suitable for the ADRC technique. Then, an extended model is derived from the dynamic model. This extended model has an extra state includes the total disturbances, which are estimated online through the extended state observer (ESO). Finally, this estimated disturbance is compensated through a simple PD feedback controller. This control strategy is tested on two-DOF serial link manipulator and compared by a simple PID controller. Simulation results show the advantage of the ADRC system over the PID controller.

An attitude decoupling controller based on linear active disturbance rejection control (LADRC) is designed for small quadrotor aircraft, considering the problems existing in the controller based on active disturbance rejection control (ADRC), such as complicated design and parameters tuning difficulties in project implementation. First, the nonlinear and couple model of small quadrotor aircraft were established, and the LADRC was introduced, which described the principles of the ability of decoupling rejection control for multiple-input and multiple-output (MIMO) system and tuning method, then the model was decoupled. After that, the attitude controller based on second-order LADRC is designed and parameters is turned according to the desired settling time. F. Finally, the simulation test of the design was carried out. The simulation results indicate that the designed controller has strong robustness and anti-disturbance performance, and does not have accurate models. Moreover, there is only one parameter needs tuning in this controller, which makes the design easy to be realized and shows great engineering value.

Based on active disturbance rejection control technique and characteristics of electric power steering, a steering angle tracking controller is designed, which consists of an aligning moment estimator to deal with modeling error and nonlinearity of electric power steering. The aligning moment estimator is based on an extended state observer and takes steering system friction and differential drive steering torque, which is a unique phenomenon in a distributed drive electric vehicle, into consideration. According to the estimated aligning moment and tracking differentiator, the steering angle tracking controller is designed based on a nonlinear state feedback control and feedforward compensation control laws. Results of various simulations and experiments, including pivot steering, step input steering, and sinusoidal input steering, show that the proposed controller has good performance in tracking reference steering angle and is convenient to implement. With the aligning moment estimator, the proposed controller shows better results in comparative experiments than a conditional integral-based steering angle tracking controller.

The valve-controlled cylinder electro-hydraulic position servo system is a nonlinear systems characterized by uncertain parameters and unknown disturbances. These attributes present significant challenges to achieving high-precision motion control of hydraulic cylinders. This study introduces a composite control strategy that merges active disturbance rejection control (ADRC) with integral feedback to further enhance the position tracking accuracy of the system amid unknown load disturbances. The effectiveness of ADRC largely depends on its parameters, which dictate the control precision of the object. However, ADRC typically involves numerous adjustable parameters, necessitating extended tuning periods for new controlled objects. Consequently, this study proposes a universal method for ADRC parameter tuning aimed at minimizing the time required for parameter adjustments. An experimental platform for the valve-controlled hydraulic cylinder position servo system was developed to validate the efficacy of the control strategy and the parameter tuning method. The findings offer valuable insights for enhancing the motion accuracy of electro-hydraulic position servo systems.

Active disturbance rejection control (ADRC) technique was applied for attitude and trajectory control of the flying-wing unmanned aerial vehicle (UAV). Considering the characteristic of static instability in longitudinal and directional, a nonlinear ADRC controller was designed for the flying-wing UAV. After tuning the parameters, altitude command with step change, and gust disturbance were given when it was in simulation at the state of a straight and level path flight. The results showed the steady-state error of altitude reduced by 0.0235m, and the setting time of altitude reduced by 8.2s. To some extent, it is because this controller can estimate and compensate for the disturbance. Comparing with proportion-integration and differentiation (PID) controller, the ADRC controller we designed can solve the problem of oscillations, and the oscillations are often generated by step change of state variable or input command. Relevant results indicate that ADRC controller can not only meet the control accuracy requirement, but also satisfy the requirement of the rapid response, robustness and insensitivity to perturbations.

Aiming at the tip trajectory tracking against system parameter uncertainty and disturbance during the painting process of the spray painting manipulator, a sliding model active disturbance rejection trajectory tracking controller is designed integrating terminal sliding mode control (SMC) approach and active disturbance rejection control (ADRC) technique. The reference curve trajectory of the tip position/velocity is planned by the kinematics equation. in which the compensation is taken into account for the deflection of the manipulator. The extended state observer (ESO) is used to estimate the total disturbance consisting of the uncertain system parameters and the uncertain interference resulting from deflection and load. Utilizing non-singular terminal sliding mode control, a feedback control law is designed to achieve fast and accurate trajectory tracking. Simultaneously, according to the actual system parameters in the engineering, the simulation validation is given to show that the proposed control strategy can guarantee good tracking performance of the closed-loop system.

PurposeThe purpose of this paper is to enhance the quadrotor’s capability of short-distance delivery to satisfy the large demand for quadrotor, which is used for goods distribution in huge warehouses, under time-varying payload and external wind disturbance.Design/methodology/approachA trajectory tracking controller design based on the combination of an adaptive sliding mode control (ASMC) method and the active disturbance rejection control (ADRC) technique is proposed. Besides, an inner–outer loop control system structure is adopted.FindingsSimulation results of different trajectory tracking verify the effectiveness and robustness of the proposed tracking control method under various conditions, including parameter uncertainty and external wind disturbance. The proposed control strategy ensures that quadrotor UAV is capable of tracking linear and spiral trajectory well whether it loads or unloads goods in the presence of the external wind disturbance.Originality/valueThe proposed method of designing a trajectory tracking controller is based on an integral ADRC and ASMC scheme so as to deal with the trajectory tracking problem for a quadrotor with payload variation.

This paper deals with the stabilization problem of an axially moving string with a tip mass attached at the free end and subject to an external disturbance. The disturbance here is not uniformly bounded, and it is assumed to be exponentially increasing. First, the tip mass equation is designed under a boundary controller. By using this equation, the active disturbance rejection control (ADRC) technique is applied to design a disturbance observer, and it is shown that the observer can be estimated exponentially. Then, the closed‐loop system is formulated and the well‐posedness of the model is proved in the framework of the semigroup theory. The stability of the closed‐loop system is then proved by means of the multiplier technique, where the energy system converges to equilibrium with an exponential manner. The efficiency of the obtained results is verified through numerical simulations.

This paper presents the design and fabrication of a new type of Biomimetic Underwater Vehicle (BUV) inspired by cuttlefish: the RobCutt-I. The Rob Cutt-I has good maneuverability and can perform multiple motion modes, especially submerging or surfacing vertically in the water. A course controller and a depth controller for the RobCutt-I were proposed based on the Active Disturbance Rejection Control (ADRC) technique. Experiments conducted on the RobCutt-I prototype validated the feasibility and effectiveness of the mechanism and control system. Simulations and experiments conducted on the Rob Cutt-I prototype showed that both the course controller and depth controller give better performance than the PID controller.

A novel attitude control strategy based on active disturbance rejection control (ADRC) and input shaping technique was proposed for a flexible spacecraft without angular velocity sensors. Aiming at achieving high rapidity and high pointing accuracy, we focus on the suppression of vibration of flexible appendages when the spacecraft's attitude maneuvers a large angle. In the proposed scheme, a transient process which combines path planning for attitude maneuver with input shaping is designed to reduce vibration of flexible appendages. Furthermore, an extended state observer (ESO) for the flexible spacecraft is designed to estimate the immeasurable attitude angular velocity and the disturbances, which include parameter uncertainties and external disturbances. Also a nonlinear attitude feedback control law is designed to track the desired attitude and compensate the disturbances in real time way. Simulation results demonstrate the effectiveness and robustness of the proposed control strategy.

The quad tilt rotor (QTR) has complex dynamics characteristics, especially in transition mode. It is difficult to model the QTR dynamics and the environmental factors have a great influence on it. To solve the problem of control in transition mode of QTR, this paper carries out the design of the controller based on active disturbance rejection control (ADRC). ADRC has many parameters to be tuned, and the coupling effect is more serious, so it is very difficult to tune parameters. Particle swarm optimization (PSO) algorithm has faster computing speed and better global search ability in dynamic and multi-objective optimization. So, using PSO algorithm to realize self-tuning of ADRC parameters in ADRC parameters tuning. By comparing the control performance of ADRC before and after optimization, the rationality and effectiveness of ADRC parameters tuning algorithm in QTR are verified in both time domain and frequency domain.

Aiming at the problem that the suspension force under disturbance of the permanent magnet slice rotor is difficult to be accurately detected, a new displacement controller based on the active disturbance rejection control is proposed. Firstly, the mathematic models of torque and suspension forces of the bearingless permanent magnet slice motor (BPMSM) are deduced. Secondly, the active disturbance rejection (ADR) controller is constructed. Thirdly, the BPMSM direct control system based on the ADR controller is built and the simulation is carried out, the correctness of the mathematic model and the control algorithm are verified. Finally, the displacement controller is used for a 4 kW prototype. Compared with the traditional PI controller, the floating stability time and the disturbed recovery time of the slice rotor are both decreased, the vibration displacement of rotor in stable state is reduced by 44%.

With large-scale integration of wind power in power systems, the impact of wind generation on power system stability has become an important issue. In this paper, a new power oscillation damping controller based on active disturbance rejection control technique for DFIG-based wind turbine generators is presented. The proposed power oscillation damping controller utilizes the grid frequency at the point of common coupling to generate the active power modulation, so as to damp power system oscillations. The kinetic energy of the rotating masses of wind turbine generators is utilized to provide the required damping active power. Case study on a two-area system verifies the effectiveness of the proposed power oscillation damping controller.

A closed-loop neuromodulation automatically adjusts stimuli according to brain response in real time. It is viewed as a promising way to control medically intractable epilepsy. A suitable closed-loop modulation strategy, which is robust enough to unknown nonlinearities, dynamics, and disturbances, is in great need in the clinic. For the specialization of epilepsy, the Jansen’s neural mass model is utilized to simulate the undesired high amplitudes epileptic activities, and active disturbance rejection control is designed to suppress the high amplitudes of epileptiform discharges. With the help of active disturbance rejection control, closed-loop roots of the system are far from the imaginary axis. Time domain response shows that active disturbance rejection control is able to control seizure no matter whether disturbances exist or not. At the same time, frequency domain response presents that enough stability margins and a broader range of tunable controller parameters can be obtained. Stable regions have also been presented to provide guidance to choose the parameters of active disturbance rejection control. Numerical results show that, compared with proportional-integral control, more accurate modulation with less energy can be achieved by active disturbance rejection control. It confirms that the active disturbance rejection control-based neuromodulation solution is able to achieve a desired performance. It is a promising closed-loop neuromodulation strategy in seizure control.

The parameter tuning optimization design is realized for an active disturbance rejection controller (ADRC) in combination with the improvement of the existing swarm intelligence algorithm. Taking the optimization design and application of ADRC as an example, this paper is focused on investigating the improvement of the hybrid algorithm composed of fish swarm algorithm and particle swarm optimization algorithm and its application in parameter tuning of ADRC. The main contents are as follows. First, the parameters that need to be tuned are determined based on the composition and principle of the ADRC. The module building technology of S-function is adopted to create the module library of ARDC in terms of the modular construction idea and a complete simulation example of ADRC is built in Simulink. Second, the parameters are improved according to the proposed hybrid algorithm composed of the artificial fish swarm algorithm and the standard particle swarm optimization algorithm, and the control performance is tested by the MATLAB simulation of the ADRC whose parameters are optimized by using the algorithm. Finally, the flight attitude control of the unmanned aerial vehicle (UAV) is taken as an application example, and the fixed-wing UAV is selected as the research object. Through the analysis of the experimental results, the effectiveness of the optimized design is verified for the ADRC in the attitude control of the UAV.