Robust ADRC for nonlinear time-varying system with uncertainties

Xiangyang Li; Wei Ai; Zhiqiang Gao; Senping Tian

doi:10.1109/DDCLS.2017.8068096

Robust ADRC for nonlinear time-varying system with uncertainties

Xiangyang Li
, Wei Ai
, Zhiqiang Gao
, Senping Tian

Electrical and Computer Engineering

Ministry of Education of the People's Republic of China
South China University of Technology
Cleveland State University

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

11 Scopus citations

Abstract

Active disturbance rejection control (ADRC) exemplifies the spirit of the data-driven control (DDC) design strategy and shows much promise in obtaining consistent applications in industrial control systems with uncertainties, without the premise that the detailed mathematical model of the controlled system is given. Instead, it is shown that the information needed for the control system to work at high level of effectiveness can be extracted from the input-output data by the use of the extended state observer (ESO). On the other hand, it is shown in this paper that the robustness of ADRC depends on the effectiveness of ESO. Furthermore, taking advantage of the rich body of knowledge in the existing field of robust control, the estimation error in ESO is analysed and, for the purpose of improved robustness, a unique nonlinear component is added to the conventional ADRC law. The modified ADRC which is a kind of robust ADRC law is validated in simulation for a nonlinear time-varying system with parametric and functional uncertainties. It is shown that the proposed robust ADRC law provides more effective tracking performance than the conventional ADRC when the bandwidth of ESO is not wide enough.

Original language	English
Title of host publication	Proceedings of 2017 IEEE 6th Data Driven Control and Learning Systems Conference, DDCLS 2017
Editors	Mingxuan Sun, Huijun Gao
Place of Publication	usa
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	350-356
Number of pages	7
ISBN (Electronic)	9781509054619
DOIs	https://doi.org/10.1109/DDCLS.2017.8068096
State	Published - Oct 13 2017
Event	6th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2017 - Chongqing, China Duration: May 26 2017 → May 27 2017

Conference

Conference	6th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2017
Country/Territory	China
City	Chongqing
Period	05/26/17 → 05/27/17

Keywords

Active Disturbance Rejection Control (ADRC)
Extended State Observer (ESO)
Nonlinear Time-varying System
Robust Control

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10.1109/DDCLS.2017.8068096

Cite this

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title = "Robust ADRC for nonlinear time-varying system with uncertainties",

abstract = "Active disturbance rejection control (ADRC) exemplifies the spirit of the data-driven control (DDC) design strategy and shows much promise in obtaining consistent applications in industrial control systems with uncertainties, without the premise that the detailed mathematical model of the controlled system is given. Instead, it is shown that the information needed for the control system to work at high level of effectiveness can be extracted from the input-output data by the use of the extended state observer (ESO). On the other hand, it is shown in this paper that the robustness of ADRC depends on the effectiveness of ESO. Furthermore, taking advantage of the rich body of knowledge in the existing field of robust control, the estimation error in ESO is analysed and, for the purpose of improved robustness, a unique nonlinear component is added to the conventional ADRC law. The modified ADRC which is a kind of robust ADRC law is validated in simulation for a nonlinear time-varying system with parametric and functional uncertainties. It is shown that the proposed robust ADRC law provides more effective tracking performance than the conventional ADRC when the bandwidth of ESO is not wide enough.",

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author = "Xiangyang Li and Wei Ai and Zhiqiang Gao and Senping Tian",

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booktitle = "Proceedings of 2017 IEEE 6th Data Driven Control and Learning Systems Conference, DDCLS 2017",

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Li, X, Ai, W, Gao, Z & Tian, S 2017, Robust ADRC for nonlinear time-varying system with uncertainties. in M Sun & H Gao (eds), Proceedings of 2017 IEEE 6th Data Driven Control and Learning Systems Conference, DDCLS 2017., 8068096, Institute of Electrical and Electronics Engineers Inc., usa, pp. 350-356, 6th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2017, Chongqing, China, 05/26/17. https://doi.org/10.1109/DDCLS.2017.8068096

Robust ADRC for nonlinear time-varying system with uncertainties. / Li, Xiangyang; Ai, Wei; Gao, Zhiqiang et al.
Proceedings of 2017 IEEE 6th Data Driven Control and Learning Systems Conference, DDCLS 2017. ed. / Mingxuan Sun; Huijun Gao. usa: Institute of Electrical and Electronics Engineers Inc., 2017. p. 350-356 8068096.

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

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Robust ADRC for nonlinear time-varying system with uncertainties

Abstract

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Keywords

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