Input channel gain adaptive active disturbance rejection control based on robust adaptive finite‐time parameter estimation
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Published:2023-09-23
Issue:3
Volume:18
Page:306-315
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ISSN:1751-8644
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Container-title:IET Control Theory & Applications
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language:en
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Short-container-title:IET Control Theory & Appl
Author:
Qiu Shiyin1ORCID,
Guo Wei2,
Liu Yuan1,
Li Mantian2
Affiliation:
1. Academy of Medical Engineering and Translational Medicine Tianjin University Tianjin China
2. School of Mechatronics Engineering Harbin Institute of Technology Harbin China
Abstract
AbstractThis paper presents a novel input channel gain adaptive active disturbance rejection control (ICGA‐ADRC) framework for the nonlinear control system with large load variation. This paper first introduces the design of ICGA‐ADRC and proves its stability through the rigorous Lyapunov approach. Subsequently, the proposed controller is simulated by subjecting it to a nonlinear mass‐spring‐damping system characterized by significant load variations. Furthermore, the position‐tracking performance of the controller is tested experimentally by using a motor‐driven pendulum system with various loads. Finally, the results of both simulations and experiments show that the ICGA‐ADRC is capable of compensating for system model uncertainty and external perturbation while accurately estimating the system input channel gain in real‐time. The innovation of this paper is that the robustness of active disturbance rejection control (ADRC) to the system load variation is significantly strengthened by integrating robust adaptive finite‐time parameter estimation method into the conventional ADRC control architecture.
Funder
National Key Research and Development Program of China
National Natural Science Foundation of China
Publisher
Institution of Engineering and Technology (IET)
Subject
Electrical and Electronic Engineering,Control and Optimization,Computer Science Applications,Human-Computer Interaction,Control and Systems Engineering