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Title

Adaptive Active Disturbance Rejection Control with Recursive Parameter Identification

Authors

[ 1 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 2 ] Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee | [ S ] student

Scientific discipline (Law 2.0)

[2.2] Automation, electronics, electrical engineering and space technologies

Year of publication

2024

Published in

Electronics

Journal year: 2024 | Journal volume: vol. 13 | Journal number: iss. 16

Article type

scientific article

Publication language

english

Keywords
EN
  • ADRC
  • adaptive control
  • second-order system
  • DC motor
  • robust control
  • recursive least squares method
Abstract

EN This paper presents a new adaptive modification of active disturbance rejection control (ADRC) with parameter estimation based on a recursive least-squares (RLS) method. The common ADRC used in many applications relies on the simple approach, which assumes the simplification of the object into an integral chain form. However, this model-free ADRC does not guarantee the stability of a closed-loop system in the presence of noticeable modeling uncertainties, so it is compared in this paper to another approach, in which the linear part of the system is included in the ADRC framework (generalized ADRC). This incorporation of the model is examined in the paper for a wide range of model and controller parameters, considering also the presence of external disturbances as well as parameter uncertainties, pointing out the limitations of fixed-gain algorithms. Then, the adaptive modification of the model-based ADRC is proposed, which is equipped with a real-time estimation of model parameters by means of the RLS method in continuous time. The stability conditions of the proposed modification of the algorithm in the closed control loop are also analyzed. It can be concluded that, under appropriate conditions, the inclusion of information about known plant parameters into the ADRC can noticeably improve the conditions of the control system. The proposed adaptive model-based approach enables quality improvement during the control process even with initially unknown parameters, for time-varying parameters, and in the presence of parametric uncertainties and external disturbances. The tests were performed on a real plant—the task of controlling the angular velocity of the direct current (DC) motor was considered.

Pages (from - to)

3114-1 - 3114-25

URL

https://www.mdpi.com/2079-9292/13/16/3114

Comments

Article number: 3114

License type

CC BY (attribution alone)

Open Access Mode

open journal

Open Access Text Version

final published version

Full text of article

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Access level to full text

public

Ministry points / journal

100

Impact Factor

2,6 [List 2023]

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