Related papers: An Improved Active Disturbance Rejection Control f…
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…
Proper operation of the Active Disturbance Rejection (ADR) controller requires a precise determination of the so-called total disturbance affecting the considered dynamical system, usually estimated by the Extended State Observer (ESO). The…
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…
A new tuning rule is introduced for linear active disturbance rejection control (ADRC), which results in similar closed-loop dynamics as the commonly employed bandwidth parameterization design, but with lower feedback gains. In this manner…
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 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…
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…
In this paper, a novel adaptive smooth disturbance observer-based fast finite-time adaptive backstepping control scheme is presented for the attitude tracking of the 3-DOF helicopter system subject to compound disturbances. First, an…
This letter presents a control framework for legged robots that enables self-perception and resistance to external disturbances and model uncertainties. First, a novel disturbance estimator is proposed, integrating adaptive control and…
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…
In this paper, first of all, we introduce the basic concepts of generating function in combinatorics and some combinatorial identities. In order to facilitate the understanding of m(greater than 1)-order time optimal control synthesis…
This paper presents a control framework designed to enhance the stability and robustness of legged robots in the presence of uncertainties, including model uncertainties, external disturbances, and faults. The framework enables the…
An observer based adaptive detection methodology (ADM) is proposed for estimating frequency and its rate of change (RoCoF) of the voltage and/or current measurements acquired from an instrument transformer. With guaranteed convergence and…
High altitude simulation test benches for aero engines employ multi chamber, multi valve intake systems that demand effective decoupling and strong disturbance rejection during transient tests. This paper proposes a coordinated active…
In this paper, we consider controlling a class of single-input-single-output (SISO) commensurate fractional-order nonlinear systems with parametric uncertainty and external disturbance. Based on backstepping approach, an adaptive controller…
In this paper, we propose a novel active reconfigurable intelligent surface (RIS)-assisted amplitude-domain reflection modulation (ADRM) transmission scheme, termed as ARIS-ADRM. This innovative approach leverages the additional degree of…
This study presents a novel, continuous finite-time control strategy for a class of nonlinear systems subject to matched uncertainties with unknown bounds. We propose an Adaptive Disturbance Observer-based Full-order Integral-Terminal…
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…
This paper proposes a disturbance-observer-based control (DOBC) scheme for frequency and voltage regulation for a renewable energy sources (RES) integrated power systems. The proposed approach acts a feed-forward control which improves the…
Distributionally Robust Optimal Control (DROC) is a framework that enables robust control in a stochastic setting where the true disturbance distribution is unknown. Traditional DROC approaches require given ambiguity sets and KL divergence…