Related papers: Robust converter-fed motor control based on active…
Practical applications of controllers often impose further requirements on the implementation beyond the actual control performance, such as the ability to switch between manual and automatic control or between different control laws or…
As an alternative to both classical PID-type and modern model-based approaches to solving control problems, active disturbance rejection control (ADRC) has gained significant traction in recent years. With its simple tuning method and…
This paper presents a novel approach to robust load disturbance rejection in DC-DC Buck converters. We propose a novel control scheme based on the design of two nested feedback loops. First, we design the controller in the outer loop using…
The performance of active disturbance rejection control (ADRC) algorithms can be limited in practice by high-frequency measurement noise. In this work, this problem is addressed by transforming the high-gain extended state observer (ESO),…
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…
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…
A suboptimal active disturbance rejection controller (S-ADRC) is proposed for second-order systems with unknown time-varying nonlinear dynamics. The output-feedback controller guarantees a global convergence to the vicinity of an optimal…
In this paper a new strategy based on disturbance and uncertainty (DU) estimation and attenuation technique is proposed and tested on the nonlinear kinematic model of the differential drive mobile robot (DDMR). The proposed technique is an…
The increasing demand for target tracking, environmental surveys, surveillance and mapping requires multi-axis gimbal systems with high tracking and stabilization performance. In this paper, first, computed torque model is generated to…
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…
Unmanned Surface Vessels (USVs) face significant control challenges due to uncertain environmental disturbances like waves and currents. This paper proposes a trajectory tracking controller based on Active Disturbance Rejection Control…
In this study, an active disturbance rejection control (ADRC) toolbox for MATLAB/Simulink is introduced. Although ADRC has already been established as a powerful robust control framework with successful industrial implementations and strong…
The basic active disturbance rejection control (BADRC) algorithm with only one order higher extended state observer (ESO) proves to be robust to both internal and external disturbances. An advantage of BADRC is that in many applications it…
This paper presents an active disturbance rejection control (ADRC) scheme with an improved fractional-order extended state observer (IFO-ESO).Based on the new ADRC scheme, the open-loop transfer function of a high-order system can be…
This paper proposes a new Active Disturbance Rejection based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state and control input references…
Trajectory tracking control of autonomous trolley collection robots (ATCR) is an ambitious work due to the complex environment, serious noise and external disturbances. This work investigates a control scheme for ATCR subjecting to severe…
This paper proposes a novel approach to design analog electronic circuits that implement Model Predictive Control (MPC) policies for dynamical systems described by affine models. Effective approaches to define a reduced-complexity Explicit…
This paper is concerned with mismatched disturbance rejection control for the second-order discrete-time systems.Different from previous work, the controllability of the system is applied to design the disturbance compensation gain, which…
This paper addresses the problem of regulating the output voltage of a DC-DC buck-boost converter feeding a constant power load,which is a problem of current practical interest. Designing a stabilising controller is theoretically…
We consider controller design for robust output tracking and disturbance rejection for continuous-time periodic linear systems with periodic reference and disturbance signals. As our main results we present four different controllers: A…