Related papers: Internal Model Based Active Disturbance Rejection …
In this paper, we uncover a new connection between standard PI/PID controllers and active disturbance rejection control (ADRC), from which we establish formal conditions of equivalence between the two control schemes. Using the equivalence,…
This work proposes a unified control architecture that couples a Reinforcement Learning (RL)-driven controller with a disturbance-rejection Extended State Observer (ESO), complemented by an Event-Triggered Mechanism (ETM) to limit…
The extended state observer (ESO) plays an important role in the design of feedback control for nonlinear systems. However, its high-gain nature creates a challenge in engineering practice in cases where the output measurement is corrupted…
Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance.…
When the disturbance input matrix is nonlinear, existing disturbance observer design methods rely on the solvability of a partial differential equation or the existence of an output function with a uniformly well-defined disturbance…
In this paper, a novel finite - time Nonlinear Extended State Observer (NLESO) is proposed and employed in Active Disturbance Rejection Control (ADRC) to stabilize a nonlinear system against system's uncertainties and discontinuous…
Considering the control problem for nonlinear uncertain systems, the tolerable range of uncertain control input gain is a fundamental issue. The paper presents the necessary and sufficient condition for the well-performed closed-loop system…
The robust disturbance rejection controller has been the subject of intensive research due to its undeniable importance for automation. Modern control theory tends to use model-based approaches versus model-free approaches, especially when…
The periodic signal tracking and the unknown disturbance rejection under limited communication resources are main important issues in many physical systems and practical applications. The control of such systems has some challenges such as…
To foster the adoption of active disturbance rejection control (ADRC) and support its deployment even on low-cost embedded systems, this article introduces the most efficient implementation of linear discrete-time ADRC to date. While…
In this paper, we propose a novel framework for disturbance rejection in a class of nonautonomous nonlinear systems affected by trigonometric-polynomial disturbances. The core of our approach is the design of a canonical internal model that…
Model uncertainty presents significant challenges in vibration suppression of multi-inertia systems, as these systems often rely on inaccurate nominal mathematical models due to system identification errors or unmodeled dynamics. An…
Control systems are inevitably affected by external disturbances, and a major objective of the control design is to attenuate or eliminate their adverse effects on the system performance. This paper presents a disturbance rejection approach…
Practical implementations of active disturbance rejection control (ADRC) will almost always take place in discretized form. Since applications may have quite different needs regarding their discrete-time controllers, this article summarizes…
This paper presents a systematic design of an active disturbance rejection control (ADRC) system for unmanned tracked vehicles (UTVs) in leader-follow formation. Two ADRC controllers are designed for the lateral and the longitudinal…
This is the last part of four series papers, aiming at stabilization for signal-input-signaloutput (SISO) linear finite-dimensional systems corrupted by general input disturbances. A new observer, referred to as Extended Dynamics Observer…
This paper presents some recent algorithms developed by the authors for real-time adaptive active noise (AANC) control systems. These algorithms address some of the common challenges faced by AANC systems, such as speaker saturation, system…
This article presents a tracking control framework enhanced by an extended state observer for a rotorcraft aerial vehicle modeled as a rigid body in three-dimensional translational and rotational motions. The system is considered as an…
This paper proposes a new algorithm for compensating external disturbances for class of multi-channel linear systems. The solution to this problem is based on the use of the internal model principle and the extended error adaptation…
To support the adoption of active disturbance rejection control (ADRC) in industrial practice, this article aims at improving both understanding and implementation of ADRC using traditional means, in particular via transfer functions and a…