Linear Active Disturbance Rejection Control for Processes With Time Delays: IMC Interpretation

Fu, Chenglong; Tan, Wen

doi:10.1109/access.2020.2967806

Cited by 18 publications

(13 citation statements)

References 30 publications

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“…5 compares the simulation results for three different values of β 1 and β 2 . Note that β 2o = 6 × 10 5 , and β 1 is relatively changed by (13). As it is evident, the proposed control method is stable for those cases because the selected values of β 1 and β 2 are satisfying the convergence criterion.…”

Section: Simulation Resultsmentioning

confidence: 84%

“…Evaluation of the Sensitivity to Parameters β 1 and β 2 : In order to analyze the effect of the parameters β 1 and β 2 on the performance of the proposed model, first M is approximately achieved from (12), which is M = 4.5 × 10 5 , and the values of β 1 and β 2 are chosen according to (13). Fig.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…To overcome this problem, some recent studies have tried to replace the conventional prediction model. For this purpose, novel control theories have been used, e.g., auto disturbance rejection control (ADRC) [13]- [15], model-free control (MFC) [15], [16], and recursive least square (RLS) techniques [17], [18].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Finite-Set Model Predictive Current Control of Induction Motors by Direct Use of Total Disturbance

Mousavi

Davari²,

Nekoukar³

et al. 2021

IEEE Access

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Disturbance rejection strategies are very useful for the robustness improvement of the predictive control method. But they can only be used in the modulated-based predictive control methods such as continuous set model predictive control (CS-MPC) and deadbeat control. This paper presents a robust current prediction model based on total disturbance observer (TDO), which is applicable in the finite set model predictive current control (FS-MPCC). In the proposed method, the disturbance is directly used as a part of the prediction model instead of the disturbance rejection loop. So, the proposed method has two advantages over the disturbance rejection-based CS-MPC schemes. The first advantage is no need for a controller, which is an essential part of the disturbance rejection-based CS-MPC. Therefore, the proposed method is simpler and has fewer control parameters. The second feature is that the proposed model is in the stationary frame. In this way, the frame transformation is avoided in the prediction model. Moreover, to guarantee zero steady-state error in the current prediction model, this paper proposes a complete designing process for TDO based on the convergence analysis. The performance of the proposed control system is evaluated through simulations and experimental tests.

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Section: Simulation Resultsmentioning

confidence: 84%

Section: Simulation Resultsmentioning

confidence: 99%

See 1 more Smart Citation

Finite-Set Model Predictive Current Control of Induction Motors by Direct Use of Total Disturbance

Mousavi

Davari²,

Nekoukar³

et al. 2021

IEEE Access

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show abstract

“…However, the response of helicopter rotors to the collective and cyclic pitch control is relatively slow owing to the inertia and aerodynamics of the blades. If the slow rotor flapping dynamics are ignored, the important assumption for the original LADRC will no longer be valid and the original LADRC will oscillate [24,[33][34][35][36]. Thus, the compensation for the rotor flapping dynamics and other actuators is indispensable in the LADRC attitude controller for the dual-tiltrotor UAV.…”

Section: Actuator Dynamics Compensated Ladrcmentioning

confidence: 99%

Unified Accurate Attitude Control for Dual-Tiltrotor UAV with Cyclic Pitch Using Actuator Dynamics Compensated LADRC

Wang

Cai

et al. 2022

Sensors

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This paper proposes a unified attitude controller based on the modified linear active disturbance rejection control (LADRC) for a dual-tiltrotor unmanned aerial vehicle (UAV) with cyclic pitch to achieve accurate attitude control despite its nonlinear and time-varying characteristics during flight mode transitions. The proposed control algorithm has higher robustness against model mismatch compared with the model-based control algorithms. The modified LADRC utilizes the state feedbacks from the onboard sensors like IMU and Pitot tube instead of the mathematical model of the plane. It has less dependency on the accurate dynamics model of the dual-tiltrotor UAV, which can hardly be built. In contrast to the original LADRC, an actuator model is integrated into the modified LADRC to compensate for the non-negligible slow rotor flapping dynamics and servo dynamics. This modification eliminates the oscillation of the original LADRC when applied on the plant with slow-response actuators, such as propeller and rotors of the helicopter. In this way, the stability and performance of the controller are improved. The controller replaces the gain-scheduling or the control logic switching by a unified controller structure, which simplifies the design approach of the controller for different flight modes. The effectiveness of the modified LADRC and the performance of the unified attitude controller are demonstrated in both simulation and flight tests using a dual-tiltrotor UAV. The attitude control error is less than ±4° during the conversion flight. The control rising time in different flight modes is all about 0.5 s, despite the variations in the airspeed and tilt angle. The flight results show that the controller guarantees high control accuracy and uniform control quality in different flight modes.

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“…The inverse model control (IMC) has widely been investigated over the past decades due to its application in many scientific and engineering fields [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24], [25]. The unique behaviors of the discussed technique such as robustness, maximumspeed or minimum-energy properties make it attractive in many practical implementations [1], [9], [12], [23], [26], [27], [28].…”

Section: Introductionmentioning

confidence: 99%

A New Non-Full Rank Algorithm for the IMC-Derived d-Step MIMO Structures in the Pole-Free State Space

Feliks

Hunek

2020

IEEE Access

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In this paper, the powerful issue of a non-full rank inverse model control investigation is provided. It is broadly known, that the inverse-based methodology is associated with the full-rank control systems only. However, following the recently obtained authors' results in this matter, it should be concluded, that for single-delayed non-full rank state-space plants, the inverse model control-related perfect control expression can also be established. It is shown here, that for all right-and left-oriented multivariable LTI non-full rank systems, including the square ones, governed by the discrete-time statespace domain arranging the zero-reference value, the maximum-speed pole-free instance of such inverse model control strategy can be achieved. Thus, the new non-full rank algorithm does not coincide with the z-transfer-function scenario, which additionally sounds the intriguing peculiarity. The innovative content of the manuscript, that has never been seen before, is strongly supported by the numerical examples. Henceforth, the presented methodology covers the entire set of LTI MIMO state-space-oriented plants in the discrete-time domain, which is also a consequence of conducted research investigation in the past. INDEX TERMS Non-full rank, perfect control procedure, Moore-Penrose inverse, generalized inverses, skeleton factorization, pole-free delayed plants, discrete-time state-space MIMO structures

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Linear Active Disturbance Rejection Control for Processes With Time Delays: IMC Interpretation

Cited by 18 publications

References 30 publications

Finite-Set Model Predictive Current Control of Induction Motors by Direct Use of Total Disturbance

Finite-Set Model Predictive Current Control of Induction Motors by Direct Use of Total Disturbance

Unified Accurate Attitude Control for Dual-Tiltrotor UAV with Cyclic Pitch Using Actuator Dynamics Compensated LADRC

A New Non-Full Rank Algorithm for the IMC-Derived d-Step MIMO Structures in the Pole-Free State Space

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