Data-driven disturbance observer-based control: an active disturbance rejection approach

Abstract

In this paper, a data-driven method for disturbance estimation and rejection is presented. The proposed approach is divided into two stages: an inner stabilization loop, to set the desired reference model, together with an outer loop for disturbance estimation and compensation. Inspired by the active disturbance rejection control framework, the exogenous and endogenous disturbances are lumped into a total disturbance signal. This signal is estimated using an on-line algorithm based on a datadriven predictor scheme, whose parameters are chosen to satisfy high robustness-performance criteria. The above process is presented as a novel enhancement to design a disturbance observer, which constitutes the main contribution of the paper. In addition, the control strategy is completely presented in discrete time, avoiding the use of discretization methods for its digital implementation. As a case study, the voltage control of a DC-DC synchronous buck converter affected by disturbances in the input voltage and the load is considered. Finally, experimental results that validate the proposed strategy and some comparisons with the classical disturbance observer-based control are presented.

A New Adaptive Disturbance/Uncertainty Estimator Based Control Scheme For LTI Systems

“…To our best knowledge, unmixing the lumped disturbances via an adaptive scheme is first attempted in the current study. Adaptive DOBC structures in the literature include generally composite controller design, data driven and nonlinear controller based augmented structures [14]- [17]. In [14], a novel control scheme combining nonlinear DOBC with H ∞ control structure was presented for complex multiple-inputmultiple-output (MIMO) flight control system.…”

“…For piezoelectric ultrasonic actuator (PUA)based surgical device, an enhanced adaptive robust DOBC scheme including sliding mode was proposed in [16]. In [17], a data driven disturbance observer based control scheme including ADRC approach is discussed. However, the cited body of literature estimates the lumped D/U and remedies are based on the lumped effect of the disturbances and plant uncertainties.…”