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Towards backward compatibility of ADRC: revisiting classical state-feedback control with integral compensator

Bulletin of the Polish Academy of Sciences: Technical Sciences 2025年第2期73卷

作者： Mrotek, Mikolaj Michalski, Jacek Madonski, Rafal Pazderski, Dariusz Retinger, Marek Faculty of Control Robotics and Electrical Engineering Institute of Robotics and Machine Intelligence Poznan University of Technology Piotrowo 3a Poznan60-965 Poland Faculty of Automatic Control Electronics and Computer Science Department of Automatic Control and Robotics Silesian University of Technology Akademicka 16 Gliwice44-100 Poland Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Poznan University of Technology Piotrowo 3a Poznan60-965 Poland

In this paper, the problem of backward compatibility of active disturbance rejection control (ADRC) is investigated. The goal is to contextualize ADRC to deliver its interpretations from the established field of linear control systems. For this study, a control algorithm, denoted here as integral disturbance rejection control (IDRC), is considered that combines classical state-feedback control with an integral compensator. At first, an interpretation of ADRC is involved in terms of existing state-space control approaches. Next, a transition to the frequency domain is performed, which is justified as a significant part of practical control engineering is conducted in that domain. For assumed specific plant structures, both ADRC and IDRC are then holistically compared in terms of transfer function representation and frequency characteristics, as well as steady-state convergence conditions. Such a juxtaposition helps to highlight the similarities and differences of both approaches, whereas the utilized bandwidth parameterization is shown to bring the control system to the same form, thus indicating some interesting practical aspects. Finally, the theoretical results concerning both considered control structures are validated in a set of numerical simulations and experiments conducted on a laboratory hardware testbed. © 2025 The Author(s).

关键词： Disturbance rejection

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A noninteracting control strategy for the robust output synchronization of linear heterogeneous networks

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control Theory and Technology 2014年第3期12卷 234-249页

作者： Saman KHODAVERDIAN Jürgen ADAMY Institute of Automatic Control and Mechatronics Control Methods and Robotics Lab Technische Universitt DarmstadtLandgraf-Georg-Str.464283 Darmstadt Germany

This paper deals with the problem of robust output synchronization for heterogeneous multi-agent systems. First, a new synchronization approach is presented to synchronize the outputs of heterogeneous agents. Based on noninteracting control techniques, a method is derived for homogenizing the input-output behavior of every agent. Hence, applying the same reference input signal to every agent leads to synchronization. Furthermore, a strategy for increasing the robustness of the synchronization process against exogenous disturbances is presented, which leads to a structurally constrained optimization problem. However, by a convenient reformulation of the problem, well established tools from robust control theory can be used. Moreover, it is shown that this procedure allows to separate the robustness issue from the synchronization task. The effectiveness of the approach is illustrated by a robust output synchronization example for a heterogeneous aircraft fleet.

关键词： Heterogeneous networks Multi-agent systems Decentralized control Robust synchronization Disturbance rejection controller constraints and structure

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Application of fuzzy logic fault isolation methods for actuator diagnosis 15th

Application of fuzzy logic fault isolation methods for actua...

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15th World Congress of the International Federation of automatic control, 2002

作者： Bartys, Michal Z. Koscielny, Jan M. Warsaw University of Technology Faculty of Mechatronics Institute of Automatic Control and Robotics Chodkiewicza 8 Warszawa02-525 Poland

ISBN: (纸本)9783902661746

Four fuzzy logic fault isolation methods suitable for implementation in smart final control elements are proposed. The methods are suited for real time diagnostics applications considering computing power limitations typical for applications in intrinsically safe zones. The comparison of isolability features of presented algorithms is given in examples. Copyright © 2002 IFAC.

关键词： Fault detection

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Root locus design for the synchronization of multi-agent systems in general directed networks 5

Root locus design for the synchronization of multi-agent sys...

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5th IFAC Workshop on Distributed Estimation and control in Networked Systems, NecSys 2015

作者： Khodaverdian, Saman Lanfermann, Felix Adamy, Jürgen Institute of Automatic Control and Mechatronics Control Methods and Robotics Lab Technische Universität Darmstadt Germany

This paper considers the synchronization problem of multi-agent SISO systems with general unidirectional communication structures. A distributed control strategy is presented which relies on relative output differences of neighboring agents and, thus, does not need relative state information. We propose a root locus design method to determine the synchronization gain. Since in directed networks the characteristic equation for synchronization might be complex valued, we use tools from the complex root locus technique to solve the synchronization task. © 2015, IFAC (International Federation of automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Multi agent systems

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Synchronizing linear heterogeneous networks by output homogenization 19

Synchronizing linear heterogeneous networks by output homoge...

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Khodaverdian, Saman Adamy, Jürgen Institute of Automatic Control and Mechatronics Laboratory of Control Theory and Robotics Technische Universität Darmstadt Germany

ISBN: (纸本)9783902823625

This article deals with the synchronization of heterogeneous multi-agent systems. A simple distributed control law is provided to solve the problem. The presented approach is based on the idea to ascribe the heterogeneous case to a homogeneous synchronization task, for which the solution is well known. The presented method is applicable to networks of completely different agents, even with different dimensions. Additionally, the communication effort is minimized because only the states which are to be synchronized need to be exchanged through the network. An example illustrates the efficiency of the concept. © IFAC.

关键词： Multi agent systems

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Singleton-based two-string inference in recurrent fuzzy systems 19

Singleton-based two-string inference in recurrent fuzzy syst...

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Schneider, Moritz Adamy, Jürgen Institute of Automatic Control and Mechatronics Control Methods and Robotics Lab. Technische Universität Darmstadt Germany

ISBN: (纸本)9783902823625

Two-string fuzzy inference consists of two separate inference mechanisms: One conventional fuzzy inference system that processes recommending rules, as well as a mechanism for processing negative rules, which prevent the system from outputting their associated values when their premise is fulfilled. Two-string inference has valuable applications in pattern recognition and control tasks. We present a method rendering two-string inference applicable and computationally feasible in recurrent fuzzy systems, i.e. Mamdami-type fuzzy inference systems equipped with defuzzified state feedback. We show the efficiency of our approach by means of an illustrative example from biological systems modelling and suggest application areas for recurrent two-string fuzzy systems. © IFAC.

关键词： Fuzzy inference

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Influence of power supply on airport navigation lamps photometric test accuracy 26

Influence of power supply on airport navigation lamps photom...

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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Podbucki, Kacper Suder, Jakub Marciniak, Tomasz Darowski, Adam Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Poznań60-965 Poland

ISBN: (纸本)9798350304985

The paper presents research on the accuracy of measuring illuminance and chromaticity of airport lamps. The impact of the type of DC and AC power supply on measurement was assessed with the use of electronic sensors. BH1750 and BH1745 type sensors in a microprocessor system with an I2C interface were used for the measurements. A professional luxmeter was used for comparison purposes. Experimental tests were carried out under laboratory conditions for three types of halogen lamps: approach system lamps, runway centerline lamps, and touchdown zone lamps. © 2023 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Lighting

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Fast Prototyping of In-Pavement Airport Navigation Lamp Prism Classification 26

Fast Prototyping of In-Pavement Airport Navigation Lamp Pris...

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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Suder, Jakub Marciniak, Tomasz Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Poznań60-965 Poland

ISBN: (纸本)9798350304985

The paper presents an analysis of fast selection of neural network for the purpose of visual analysis of mechanical wear on prism lenses of in-pavement airport navigational lighting systems. This issue is particularly important in terms of aviation safety and navigational lighting control, regulated by EASA and ICAO. The article is the next stage of the development of the system for the vision control of lamps, in which the concept of using a different neural network with an increased data set prepared by the authors is presented. The Deep Network Designer tool included in the Matlab 2022b environment was used. The solution using the GoogLeNet neural network allows for the classification of lamps with an accuracy of 88.37%. © 2023 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Airports

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Modeling and adaptive control of a quadrotor

Modeling and adaptive control of a quadrotor

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2012 9th IEEE International Conference on mechatronics and Automation, ICMA 2012

作者： Schreier, Matthias Institute of Automatic Control and Mechatronics Control Theory and Robotics Lab. TU Darmstadt Landgraf-Georg-Str. 4 64283 Darmstadt Germany

ISBN: (纸本)9781467312776

In this paper, we propose two variants of adaptive state space controllers for attitude stabilization and self-tuning of a four-rotor aerial robot, a quadrotor. First of all, the use of a Model Identification Adaptive controller (MIAC) is proposed in terms of combining a recursive least-squares estimator with exponential forgetting with an integral discrete-time state space controller. Furthermore, a continuous-time Model Reference Adaptive control (MRAC) scheme based on Lyapunov theory is applied to the simplified dynamics of a quadrotor, which guarantees global asymptotic stability for at least linear overall systems. The effectiveness of the suggested adaptive methods is demonstrated in simulations with a quaternion-based nonlinear dynamic model of a quadrotor derived in this work. The results are compared to a designed nonadaptive integral state space controller. © 2012 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Synchronization of Four Different Chaotic Communication Systems with the Aim of Secure Communication 21st

Synchronization of Four Different Chaotic Communication Syst...

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21st Polish control Conference, PCC 2023

作者： Abadi, Ali Soltani Sharif Hosseinabadi, Pooyan Alinaghi Ordys, Andrew Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland School of Engineering and Information Technology The University of New South Wales CanberraACT Australia

ISBN: (纸本)9783031351693

The synchronization of systems with the goal of securing communications is a very interesting and recent topic. This paper proposes the Fast Terminal Sliding Mode control (FTSMC) method to design control inputs for synchronizing four different communication systems, Volta, Coullet, Chen and ***. Synchronization of these systems can be used in a variety of applications. Some of the key features of the proposed designs are that these inputs are robust against the variety of uncertainties of the system model and external disturbances. Also, the finite time stability of these systems is guaranteed by using designed inputs. Additionally, these inputs eliminate destructive and undesirable chattering phenomena thoroughly. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Synchronization

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