Tracking control of uncertain time delay systems: An ADRC approach

Castañeda, L.; Luviano‐Juárez, Alberto; Ochoa-Ortega, Gilberto; Chairez, Isaac

doi:10.1016/j.conengprac.2018.06.015

Cited by 26 publications

(19 citation statements)

References 28 publications

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“…where, k p is proportional coefficient, k i is integral coefficient, In hybrid power supply mode, the interference of the super-capacitor disturbs the voltage of vehicle power supply to a certain extent, which is not conducive to the stable control of the steering system. Active disturbance rejection controller (ADRC) can actively eliminate the effect of voltage disturbance and achieve stable control [26], [27], so the ADRC is designed as the local controller in hybrid power supply mode.…”

Section: A Design Of Local Controllermentioning

confidence: 99%

Multi-Mode Switching Control of the EPS With Hybrid Power Supply

et al. 2020

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Electric power steering system (EPS) with traditional power supply can't provide enough power for heavy-duty vehicle to turn at low speed. To solve the problem, a novel EPS with hybrid power supply was constructed. In this paper, firstly, mathematical model of the EPS with hybrid power supply was established including model of hybrid power supply system and basic model of EPS. Then the power mode recognition was obtained according to the certain threshold of steering resistance torque, state of charge (SOC) of super-capacitor and output voltage of the vehicle power supply, and the corresponding finite automaton model was built. The EPS system with hybrid power supply was regarded as a hybrid system due to continuous event in a single mode and discrete event during mode switching process, thus the multi-mode switching control strategy was proposed. Taken the different characteristics of hybrid power supply in different power modes into account, the corresponding local controllers were designed which were consisted of fuzzy-PID controller, active disturbance rejection controller (ADRC) and sliding mode controller. Besides, the fuzzy supervisory controller was also designed to ensure the stability of the hybrid system during mode switching process. The simulation results show that the local controllers can achieve fast and accurate track of target current in each power mode, and the fuzzy supervisor can effectively ensure the stability of the switching process, which demonstrates the feasibility of the control strategy.

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Section: A Design Of Local Controllermentioning

confidence: 99%

Multi-Mode Switching Control of the EPS With Hybrid Power Supply

et al. 2020

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“…GPI controller served as a controller similar to the one used in this study but with constant parameters. 23–25 This comparison emphasizes the contribution of designing a class of robust controllers following the same approximation methodology, but using time-varying coefficients.…”

Section: Numerical Validation Of the Controllermentioning

confidence: 99%

“…A set of simple algebraic manipulations modifies the equations presented in equation (24) yielding to…”

Section: Appendix 1 Proof Of Theoremmentioning

confidence: 99%

Tracking control of tomographic image acquisition robotic system based on active disturbance rejection theory with adaptive gains

Vera-Tizatl

Luviano‐Juárez

Santos-Cuevas

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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The aim of this study was to design an output-based automatic controller that solves the trajectory tracking of a tomographic image acquisition robotic system. The technique used to design the controller was the active disturbance rejection control. The design process included the adaptation of controller gains depending on the tracking error. The application of this controller induced a smoother approaching of the tomographic image acquisition robotic system states to the reference trajectories. The output-based controller design offered a better approximation of the non-modeled sections in tomographic image acquisition robotic system yielding a better tracking of the reference states needed in the tomographic acquisition of images with potential application in medical diagnosis or treatment. The introduction of adaptive gains enforced a virtual increment in the number of states included in the extended state observer. The controller used the estimated velocity states calculated by an extended state adaptive observer. A set of numerical evaluations executed over a simulated version of the tomographic image acquisition robotic system proved the efficiency of the adaptive tracking trajectory controller. The quality of control execution was evaluated by determining the root mean square index of the tracking error, and the controller was also evaluated on an experimental platform. This part of the study compared the results of implementing three controllers: a basic proportional–derivative controller, a generalized proportional integral controller based on a constant gain observer, and the controller proposed in this study with time-varying gains. This comparison showed an equally faster convergence for all the three control evaluations but with smaller oscillations in the case of the adaptive version as well as a smaller steady-state error.

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“…ADRC is not predicated on an accurate and detailed dynamic model of a plant, and is extremely tolerant to uncertainties [20][21][22]. At present, ADRC has been applied in many fields, including artificial blood pumps, air-fuel ratio control in gasoline engines, airship horizontal trajectory tracking control, PV (Photovoltaic)-wind energy conversion system and aircraft electro-mechanical actuators [23][24][25][26].…”

Section: Introductionmentioning

confidence: 99%

“…The robotic system was represented as a linear perturbed system whose lumped disturbance input is estimated and then compensated by an extended state observer-based control [20]. ADRC has attracted attention and application in position control.…”

Section: Introductionmentioning

confidence: 99%

Position Control with ADRC for a Hydrostatic Double-Cylinder Actuator

Wang

Chang

2020

Actuators

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A compact and flexible hydraulic double-cylinder actuation scheme is proposed for use in applications, especially where power density is extremely demanding. In view of flexible amounting requirements, long and thin hoses were utilized to connect two cylinders. Affecting the actuation preciseness, volume variation of the hoses caused by pressurized oil and bubbles was the main problem the system encountered. In this study, an active disturbance rejection control (ADRC) strategy was adopted for the improvement of displacement control performance under uncertain external load. After the experimental verification of the necessity of a hose model for the system, a centralized-parameter hose model was constructed where the coefficients are determined on the basis of the experimental data. Additionally, the system and the controller proposed were mathematically modeled. Simulation results shows that the system using ADRC exhibited higher displacement accuracy and better dynamic performance than that using PID (Proportion-Integral-Derivative) or fuzzy PID. ADRC has a stronger disturbance rejection ability. ADRC is an effective solution to nonlinear control of systems with uncertain parameters or various loads.

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Tracking control of uncertain time delay systems: An ADRC approach

Cited by 26 publications

References 28 publications

Multi-Mode Switching Control of the EPS With Hybrid Power Supply

Multi-Mode Switching Control of the EPS With Hybrid Power Supply

Tracking control of tomographic image acquisition robotic system based on active disturbance rejection theory with adaptive gains

Position Control with ADRC for a Hydrostatic Double-Cylinder Actuator

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