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International Journal of Robust and Nonlinear Control, 2021
AbstractThis article puts forward an active disturbance rejection control (ADRC) based tuning rule to the well‐known proportional‐integral‐derivative (PID) control for a class of multi‐input multi‐output non‐affine uncertain systems. It is proved that the PID control with the ADRC‐based tuning rule can guarantee satisfied tracking performance, both for
Sheng Zhong, Yi Huang, Lei Guo
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AbstractThis article puts forward an active disturbance rejection control (ADRC) based tuning rule to the well‐known proportional‐integral‐derivative (PID) control for a class of multi‐input multi‐output non‐affine uncertain systems. It is proved that the PID control with the ADRC‐based tuning rule can guarantee satisfied tracking performance, both for
Sheng Zhong, Yi Huang, Lei Guo
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On the stability of ADRC for manipulators with modelling uncertainties
ISA Transactions, 2020The Active Disturbance Rejection Control (ADRC) is an object of the ever growing interest in the latest years due to its limited requirements concerning knowledge of a plant's mathematical model. In this paper, a problem of system stability in presence of modelling uncertainties is investigated.
Radosław, Patelski, Piotr, Dutkiewicz
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2008 Chinese Control and Decision Conference, 2008
With the merit of simple algorithm, strong robustness and anti-interference capability the ADRC not relying on the accurate math mode of controlled plant has caught the attention of control experts and scholars; but the parameter self-tuning of ADRC isnpsilat as easy as PID controller, because there are more parameters to be turned.
null Wang Zhiqiang +2 more
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With the merit of simple algorithm, strong robustness and anti-interference capability the ADRC not relying on the accurate math mode of controlled plant has caught the attention of control experts and scholars; but the parameter self-tuning of ADRC isnpsilat as easy as PID controller, because there are more parameters to be turned.
null Wang Zhiqiang +2 more
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2013
The PID controller is the most widely used controller and has occupied a dominant position in industrial process control system for over 90 years. However, with the development of science and technology, the requirements of control system focus on control accuracy and rapid respond speed, and the increasingly high demands ability to adapt to the ...
Yuanqing Xia, Mengyin Fu
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The PID controller is the most widely used controller and has occupied a dominant position in industrial process control system for over 90 years. However, with the development of science and technology, the requirements of control system focus on control accuracy and rapid respond speed, and the increasingly high demands ability to adapt to the ...
Yuanqing Xia, Mengyin Fu
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On the stability of Han's ADRC
2014 American Control Conference, 2014Active disturbance rejection control (ADRC) is a heuristic but highly effective approach to controller-observer design. The advantages of the approach have been demonstrated in many applications but there is little available on its stability analysis. This paper shows that the nonlinear function used in ADRC results in stable behavior. Two examples are
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ADRC controller for weightlifter Humanoid robot
2019 International Conference on Electronics, Communications and Computers (CONIELECOMP), 2019The design of a controller using ADRC along with an optimal energy consumption algorithm for the humanoid equilibrium improvement based on the ZMP position is presented. The algorithm was tested on a real small size humanoid robot during a weightlifting process achieving a stability improvement for high extra weightlifting tasks.
Alexis Ortiz +2 more
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First look at conditions on applicability of ADRC
2015 10th International Workshop on Robot Motion and Control (RoMoCo), 2015In this paper, a problem of verification under what conditions it is possible to reject disturbances in a control system with an active disturbance rejection control scheme (ADRC) is considered. The complexity of this problem varies with the structure of the disturbance acting on the system.
Marcin Nowicki +2 more
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ADRC Dynamic Stabilization of an Unstable Heat Equation
IEEE Transactions on Automatic Control, 2020In this article, we consider the exponential compensation of an unstable heat equation through a dynamic boundary active disturbance rejection control (ADRC) compensator, which is described by a first-order system of two ordinary differential equations.
Yu-Long Zhang +3 more
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An economic interpretation of ADRC
2011 Chinese Control and Decision Conference (CCDC), 2011Active disturbance rejection controller(ADRC) is a model-independent controller. It has good robustness and adaptability for the controlled systems with nonlinearity, large time delay, and high uncertainty. We notice that, although the previous work has focused mainly on its application in industrial engineering, the basic idea of ADRC also reflects ...
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