Active disturbance rejection control of torsional plant with unknown frequency harmonic disturbance

Madoński, Rafał; Stanković, Momir; Shao, Sally S. L.; Gao, Zhiqiang; Yang, Jian; Li, Shihua

doi:10.1016/j.conengprac.2020.104413

Cited by 47 publications

(25 citation statements)

References 43 publications

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“…The approach was shown to guarantee robustness, and properly eliminate disturbances and overshoots. In [43], the ADRC is used to reject the effects of harmonic disturbances with unknown frequencies and uncertainties. Therefore, the ADRC approach enhances the robust performance of the controlled system to external disturbances.…”

Section: Background and Motivationmentioning

confidence: 99%

Adaptive Integral-Type Terminal Sliding Mode Tracker Based on Active Disturbance Rejection for Uncertain Nonlinear Robotic Systems With Input Saturation

Karami

Alattas

Mobayen³

et al. 2021

IEEE Access

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This paper proposes an adaptive integral-type terminal sliding mode tracking control approach based on the active disturbance rejection for uncertain nonlinear systems subject to input saturation and external disturbances. Its main objective is to achieve zero tracking error in the presence of external disturbances, parametric uncertainties and input saturation; ubiquitous problems in most practical engineering systems. The proposed approach combines the robustness and chattering-free dynamics of adaptive integraltype sliding mode control with the estimation properties of a nonlinear extended state observer. It also assumes the bounds of the input saturation to be unknown. The asymptotic stability of the closed-loop system in the presence of disturbances, uncertainties and input saturation is proven using the Lyapunov theorem. The effectiveness of the proposed approach is assessed using a flexible-link robotic manipulator. The obtained results confirmed the robustness and god tracking performance of the proposed approach. Robustness, chattering-free dynamics and good tracking performance albeit input saturation are among the main features INDEX TERMS Active disturbance rejection; nonlinear system; terminal sliding mode control; input saturation; flexible-link manipulator.

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Section: Background and Motivationmentioning

confidence: 99%

Adaptive Integral-Type Terminal Sliding Mode Tracker Based on Active Disturbance Rejection for Uncertain Nonlinear Robotic Systems With Input Saturation

Karami

Alattas

Mobayen³

et al. 2021

IEEE Access

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“…Yang [13] proposed a new efficient mode switching control method and an adaptive double loop control framework for mode switching control. FXLMS algorithm is the most famous algorithm in the active control of forced vibration, because it is reliable and easy to implement.…”

Section: Introduction mentioning

confidence: 99%

Master-Slave Synchronous Control Method for Attenuating Dual Mode Electromechanical Transmission System Torsional Vibration

Liu

Zhang

et al. 2021

Preprint

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The high-power electromechanical transmission(EMT) system is a typical dual-mode hybrid power transmission system. The torque fluctuation of internal combustion engine causes serious shock and vibration problems of EMT. It is an important way to improve the life and smoothness of EMT system by using high dynamic regulation of motor torque to suppress the torsional resonance amplitude. Firstly, a lumped parameter rotational dynamic model of multi degree of freedom EMT system is established, and the inherent torsional vibration characteristics and dynamic coupling mechanism of the system are analyzed. Secondly, based on the synchronous response of the two motors in the open-loop state, a master-slave coupling EMT torsional active control strategy is proposed, and a speed feedback proportional differential control algorithm is designed. Then, the influence of control parameters, including lever coefficient Kab, proportional coefficient Kp and differential coefficient Kd, on the vibration characteristics of the system is analyzed. Finally, the calculation is carried out in the frequency domain and compared with the optimal modal control algorithm. The results show that the lever coefficient Kab and differential coefficient Kd of master-slave control can change the natural frequency of torsional vibration of the system, thus significantly changing the vibration response of the system. Selecting appropriate control parameters can achieve peak clipping of EMT torsional resonance amplitude, which is also of great significance to improve the NVH performance of the system.

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“…The error-based ADRC has been successfully applied by now to a variety of control problems including mechanical vibration compensation [21,22], robotic manipulator control [23,24], observer design with suppression of sensor noise [25][26][27], position control of a telescope mount [28], UAV control [29,30], as well as power electronics control [31,32].…”

Section: Introductionmentioning

confidence: 99%

Simplifying ADRC design with error-based framework: case study of a DC–DC buck power converter

Madoński

Łakomy

Yang

2021

Control Theory Technol.

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In this work, the problem of designing a robust control algorithm for a DC-DC buck power converter is investigated. The applied solution is based on a recently proposed error-based version of the active disturbance rejection control (ADRC) scheme, in which the unknown higher-order terms of the reference signal are treated as additional components of the system "total disturbance". The motivation here is to provide a practical following of a reference voltage trajectory for the buck converter in specific cases where neither the analytical form of the desired signal nor its future values are known a'priori, hence cannot be directly used for control synthesis. In this work, the application of the error-based ADRC results in a practically appealing control technique, with compact structure, simplified control rule, and intuitive tuning (inherited from the conventional output-based ADRC scheme). Theoretical, numerical, and experimental results are shown to validate the efficacy of the error-based ADRC in buck converter control, followed by a discussion about the revealed theoretical and practical limitations of this approach.

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Active disturbance rejection control of torsional plant with unknown frequency harmonic disturbance

Cited by 47 publications

References 43 publications

Adaptive Integral-Type Terminal Sliding Mode Tracker Based on Active Disturbance Rejection for Uncertain Nonlinear Robotic Systems With Input Saturation

Adaptive Integral-Type Terminal Sliding Mode Tracker Based on Active Disturbance Rejection for Uncertain Nonlinear Robotic Systems With Input Saturation

Master-Slave Synchronous Control Method for Attenuating Dual Mode Electromechanical Transmission System Torsional Vibration

Simplifying ADRC design with error-based framework: case study of a DC–DC buck power converter

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