On asymptotic stability for nonlinear ADRC based control system with application to the ball-beam problem

Jie Li; Xiaohui Qi; Yuanqing Xia; Zhiqiang Gao

doi:10.1109/ACC.2016.7526100

On asymptotic stability for nonlinear ADRC based control system with application to the ball-beam problem

Jie Li
, Xiaohui Qi
, Yuanqing Xia
, Zhiqiang Gao

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

30 Scopus citations

Abstract

Active disturbance rejection control (ADRC) is a relatively new but very practical technology, which shows much promise in replacing PID as industry workhorse with unmistakable advantage in performance and practicality. This paper mainly concerns with a problem of fundamental nature: the asymptotic stability of nonlinear ADRC based control system, and applies ADRC to the ball-beam system to check the presented methods and the performance of ADRC. Firstly, the general nonlinear ADRC algorithm is introduced; then the asymptotical stability problem is transformed into that of determining whether a matrix or interval matrix is Hurwitz; finally the results of theoretical analysis are verified in simulations and experiments using the ball-beam platform, demonstrating the convenience and effectiveness of the proposed methods, in addition to the good performance of ADRC.

Original language	English
Title of host publication	Proceedings of the American Control Conference
Place of Publication	usa
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4725-4730
Number of pages	6
Volume	2016-July
ISBN (Electronic)	9781467386821
DOIs	https://doi.org/10.1109/ACC.2016.7526100
State	Published - Jul 28 2016
Event	2016 American Control Conference, ACC 2016 - Boston, United States Duration: Jul 6 2016 → Jul 8 2016

Conference

Conference	2016 American Control Conference, ACC 2016
Country/Territory	United States
City	Boston
Period	07/6/16 → 07/8/16

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10.1109/ACC.2016.7526100

Cite this

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title = "On asymptotic stability for nonlinear ADRC based control system with application to the ball-beam problem",

abstract = "Active disturbance rejection control (ADRC) is a relatively new but very practical technology, which shows much promise in replacing PID as industry workhorse with unmistakable advantage in performance and practicality. This paper mainly concerns with a problem of fundamental nature: the asymptotic stability of nonlinear ADRC based control system, and applies ADRC to the ball-beam system to check the presented methods and the performance of ADRC. Firstly, the general nonlinear ADRC algorithm is introduced; then the asymptotical stability problem is transformed into that of determining whether a matrix or interval matrix is Hurwitz; finally the results of theoretical analysis are verified in simulations and experiments using the ball-beam platform, demonstrating the convenience and effectiveness of the proposed methods, in addition to the good performance of ADRC.",

author = "Jie Li and Xiaohui Qi and Yuanqing Xia and Zhiqiang Gao",

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Li, J, Qi, X, Xia, Y & Gao, Z 2016, On asymptotic stability for nonlinear ADRC based control system with application to the ball-beam problem. in Proceedings of the American Control Conference. vol. 2016-July, 7526100, Institute of Electrical and Electronics Engineers Inc., usa, pp. 4725-4730, 2016 American Control Conference, ACC 2016, Boston, United States, 07/6/16. https://doi.org/10.1109/ACC.2016.7526100

On asymptotic stability for nonlinear ADRC based control system with application to the ball-beam problem. / Li, Jie; Qi, Xiaohui; Xia, Yuanqing et al.
Proceedings of the American Control Conference. Vol. 2016-July usa: Institute of Electrical and Electronics Engineers Inc., 2016. p. 4725-4730 7526100.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Li, Jie

AU - Qi, Xiaohui

AU - Xia, Yuanqing

AU - Gao, Zhiqiang

PY - 2016/7/28

Y1 - 2016/7/28

N2 - Active disturbance rejection control (ADRC) is a relatively new but very practical technology, which shows much promise in replacing PID as industry workhorse with unmistakable advantage in performance and practicality. This paper mainly concerns with a problem of fundamental nature: the asymptotic stability of nonlinear ADRC based control system, and applies ADRC to the ball-beam system to check the presented methods and the performance of ADRC. Firstly, the general nonlinear ADRC algorithm is introduced; then the asymptotical stability problem is transformed into that of determining whether a matrix or interval matrix is Hurwitz; finally the results of theoretical analysis are verified in simulations and experiments using the ball-beam platform, demonstrating the convenience and effectiveness of the proposed methods, in addition to the good performance of ADRC.

AB - Active disturbance rejection control (ADRC) is a relatively new but very practical technology, which shows much promise in replacing PID as industry workhorse with unmistakable advantage in performance and practicality. This paper mainly concerns with a problem of fundamental nature: the asymptotic stability of nonlinear ADRC based control system, and applies ADRC to the ball-beam system to check the presented methods and the performance of ADRC. Firstly, the general nonlinear ADRC algorithm is introduced; then the asymptotical stability problem is transformed into that of determining whether a matrix or interval matrix is Hurwitz; finally the results of theoretical analysis are verified in simulations and experiments using the ball-beam platform, demonstrating the convenience and effectiveness of the proposed methods, in addition to the good performance of ADRC.

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On asymptotic stability for nonlinear ADRC based control system with application to the ball-beam problem

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