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8th IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Peng, Cheng Tian, Yantao Bai, Yue Gong, Xun Zhao, Changjun Gao, Qingjia Xu, Dongfu Jilin Univ Dept Telecommun Engn Changchun 130023 Peoples R China Chinese Acad Sci Changchun Inst Opt Fine Mech & Phys Changchun Peoples R China

ISBN: (纸本)9781467363228;9781467363204

A quad-rotor UAV is a typical under-actuated, strong coupled nonlinear system with parameter uncertainty and un-modeled disturbance. For the sake of tracking the desired trajectory, considering these characteristics, an Active Disturbance Rejection Control (adrc) is introduced in this paper which divides the nested closed-loops control system into four independent channels. adrc has the capacity of estimating and compensating overall disturbance to improve the system performance significantly. Then Particle Swarm Optimization (PSO) is put forward to adjust and optimize parameters of adrc so as to enhance the system design efficiency. Finally it is demonstrated that adrc based on PSO algorithm has much better performance such as shorter settling time, less overshoot and smaller attitude angle tracking error than classical adrc in various numerical simulations.

关键词： quad-rotor trajectory tracking adrc algorithm PSO algorithm

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A New algorithm in Blackbody Temperature Control System Based on adrc 14

A New Algorithm in Blackbody Temperature Control System Base...

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IEEE International Conference on Mechatronics and Automation (ICMA)

作者： Wang, Yan Zhang, Jing Dong, Wei Tianjin Univ Technol Key Res Lab Control Theory & Applicat Complicated 391 Binshui Xidao Tianjin 300384 Peoples R China

ISBN: (纸本)9781509067596

In fact, the blackbody furnace running in high temperature is a typical unsteady linear system which is discovered by experiment. Temperature control characteristic is changing with the internal temperature of the furnace. Conventional control methods can not meet the control demand which result in the fluctuation of the internal temperature. Therefore, this paper introduces a control method which combines the neural networks with active disturbance rejection control (adrc) and proposes a new kind of controller. The article makes a detailed description of blackbody furnace modeling and the principle of adrc. Through the simulation by MATLAB/SIMULINK platform, we verify the feasibility and effectiveness of the proposed method and the new controller. The simulation results show the proposed method and the new controller has characteristics of stronger robustness, high tracking precision, simple parameters calculation and incomparable adaptability. Most important, it reduces the setting time effectively.

关键词： Blackbody furnace adrc algorithm Neural networks Temperature control

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Linear adrc direct current control of grid-connected inverter with LCL filter for both active damping and grid voltage induced current distortion suppression

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IET POWER ELECTRONICS 2018年第11期11卷 1748-1755页

作者： Wang, Baochao Shen, Zhaoyuan Liu, Hong Hu, Jianhui Harbin Inst Technol Sch Elect Engn & Automat 92 St Xidazhi Harbin Heilongjiang Peoples R China CRRC Zhuzhou Inst CO LTD 1 Rd Tianxin Zhuzhou Peoples R China Harbin Inst Technol Sch Mechatron Engn 92 St Xidazhi Harbin Heilongjiang Peoples R China

The conversion and utilisation of renewable energy generations often require grid-connected inverters. When applying LCL filter to remove power electronic chopping harmonics, the power quality faces two issues of resonance damping and grid voltage induced current distortion. Conventionally, two separate control algorithms are required to treat the two issues, requiring an additional current sensor, increasing control complexity and limiting performance. This study demonstrates that linear active disturbance rejection control (adrc) is able to treat both resonance damping and grid voltage induced current distortion as overall disturbance at the same time through a single structure, while achieving higher power quality for dynamic, steady-state, small and large parameter setup, as well as parameter variations, as validated by experimental results. In principle, the adrc can be configured with or without knowledge of the system model. This study also reveals that it is the measurement noise tolerance that makes the two configurations different in practice. By using model information in adrc algorithm, the required bandwidth can be reduced, offering more tolerance to measurement noise. Moreover, the adrc controller has only two parameters to tune for fast' or slow', which makes it easy for implementation.

关键词： invertors machine control feedback filters damping power grids electric current control control system synthesis adrc controller active damping grid voltage current distortion suppression renewable energy generations grid-connected inverters applying LCL filter power electronic chopping harmonics resonance damping separate control algorithms additional current sensor control complexity limiting performance linear active disturbance rejection control higher power quality large parameter setup adrc algorithm required bandwidth

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Attitude control for a quadrotor base on adrc with GSO parameter optimization 30

Attitude control for a quadrotor base on ADRC with GSO param...

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30th Chinese Control and Decision Conference (CCDC)

作者： Che, Jianfeng Li, Dahua Ji, Yuehui Gao, Qiang Tianjin Univ Technol Tianjin Key Lab Control Theory & Applicat Complic Tianjin 300384 Peoples R China

ISBN: (纸本)9781538612446

A kind of attitude control strategy for the quadrotor based on active disturbance rejection control (adrc) is proposed in this paper. Firstly, the dynamic model using Newton -Eulerformula of the quadrotor helicopter is developed. Then according to the order of dynamics equations design corresponding adrc. Subsequently, in consideration of the characteristics of uncertain parameter of adrc, the Glowworm Swarm Optimization(GSO) is designed to optimize the controller parameters so as to enhance the system performance. Finally, the comparative simulation for attitude of quadrotor is developed to verify the effectiveness of the proposed control strategy. The results of simulations show that the proposed controller possesses strong robustness and high performances.

关键词： Quadrotor Attitude Control adrc algorithm GSO algorithm Parameter Optimize

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A New Maximum Power Point Tracking Method for PV System 29

A New Maximum Power Point Tracking Method for PV System

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第29届中国控制与决策会议

作者： Zhiqiang Gao Song Li Xuesong Zhou Youjie Ma Jian Zhao Key Research Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology

ISBN: (纸本)9781509046584

Maximum power point tracking(MPPT) technique is used in photovoltaic(PV) power generation system to assume the maximum power point(MPP) no matter how the PV panel temperature and irradiation conditions *** plays a decisive role in PV power generation ***,this paper introduces a modified optimal voltage control(OVC) method coupled with active disturbance rejection control(adrc) *** proposed method focuses on parameter optimization corresponding to variable panel temperature and irradiation *** results,comparing with OVC method,show that the proposed method improves power tracking speed and efficiency of energy conversion ***,through the simulation by MATLAB/SIMULINK platform,we verify the feasibility and effectiveness of the proposed method.

关键词： PV System MPPT Variable environmental condition OVC method adrc algorithm

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Trajectory Tacking Control of a Quad-rotor Based on Active Disturbance Rejection Control

Trajectory Tacking Control of a Quad-rotor Based on Active D...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Gong, Xun Tian, Yantao Bai, Yue Zhao, Changjun Jilin Univ Sch Telecommun Engn Changchun 130023 Jilin Province Peoples R China Chinese Acad Sci Changchun Inst Opt Fine Mech & Phys Changchun 130023 Jilin Province Peoples R China

ISBN: (纸本)9781467303644

The objective of this paper is to deal with a trajectory tracking of a Quad-rotor unmanned aerial vehicle (UAV). For the model uncertainty, the external disturbance and the coupling factor are considered, an active disturbance rejection control (adrc) algorithm is introduced into the designing procedure. The aircraft dynamic model is proposed in this article, based on which the closed-loop control system is divided into four independent channels with the coupling factor compensated by the extended state observer (ESO). The nonlinear state error feedback (NLSEF) algorithm is designed in each channel to improve the closed-loop dynamics. In this article, the adrc controller is expressed in the discrete form. And finally, the simulation results show that the proposed control algorithm achieves a favourable tracking performance.

关键词： Quad-rotor adrc algorithm Extended state observer Nonlinear state error feedback

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Study on the Control of Vibration for Crus of Biped Robots 32

Study on the Control of Vibration for Crus of Biped Robots

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32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Zhang, Lu Mao, Weiwei Liang, Qing Wang, Yong Univ Sci & Technol China Sch Informat Sci & Technol Hefei 230027 Anhui Peoples R China Bengbu Navy Petty Officer Sch Dept 5 Bengbu 233012 Peoples R China

ISBN: (纸本)9781538629017

In this paper the robot leg virtual prototype is established through the simulation analysis software, and a feedback control system based on the robot body platform acceleration has been designed to study the strategy for optimizing the stability control of the robot during the walking process. The virtual prototype is imported to MATLAB and the adrc algorithm is designed to suppress the low frequency and high frequency vibration through active-passive vibration isolation. It is shown from the combined simulation and experimental results that the active-passive vibration isolation significantly attenuates the vibration of a robot upper body platform, making up for fact that the passive vibration control is unable to suppress low frequency vibration, which effectively improves walking stability of the robot and provides theoretical support for the physical prototype design.

关键词： Biped Robots Virtual Prototype Active-passive Vibration Isolation adrc algorithm ADAMS Model

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Design of Fixed-Wing UAV Control System Based on Active Disturbance Rejection Control 3

Design of Fixed-Wing UAV Control System Based on Active Dist...

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3rd International Conference on Electrical Engineering and Control Science, IC2ECS 2023

作者： Guo, Jiahui Pla Army Academy of Artillery and Air Defense AH Hefei China

ISBN: (纸本)9798350382426

In order to ensure the stable flight of fixed-wing UAV in the air and accurately track navigation instructions, a control system based on Active Disturbance Rejection Control (adrc) algorithm is designed, which can effectively estimate and compensate for the effects caused by external interference, ensuring that the control system can work reliably when disturbed. The effectiveness and superiority of the control system designed based on adrc algorithm are verified through numerical comparison simulation. © 2023 IEEE.

关键词： adrc algorithm control system extended state observer fixed-wing UAV

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Attitude control for a quadrotor base on adrc with GSO parameter optimization

Attitude control for a quadrotor base on ADRC with GSO param...

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第30届中国控制与决策会议

作者： Jianfeng Che Dahua Li Yuehui Ji Qiang Gao Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology

A kind of attitude control strategy for the quadrotor based on active disturbance rejection control(adrc) is proposed in this ***,the dynamic model using Newton–Euler formula of the quadrotor helicopter is *** according to the order of dynamics equations design corresponding ***,in consideration of the characteristics of uncertain parameter of adrc,the Glowworm Swarm Optimization(GSO) is designed to optimize the controller parameters so as to enhance the system ***,the comparative simulation for attitude of quadrotor is developed to verify the effectiveness of the proposed control *** results of simulations show that the proposed controller possesses strong robustness and high performances.

关键词： Quadrotor Attitude Control adrc algorithm GSO algorithm Parameter Optimize

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