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Open AccessArticle
Adaptive Active Disturbance Rejection Control with Recursive Parameter Identification
Institute of Robotics and Machine Intelligence, Faculty of Automatic Control, Robotics and Electrical Engineering, Poznan University of Technology, Piotrowo 3a Street, 60-965 Poznan, Poland
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Author to whom correspondence should be addressed.
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These authors contributed equally to this work.
Electronics 2024, 13(16), 3114; https://doi.org/10.3390/electronics13163114 (registering DOI)
Submission received: 11 July 2024
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Revised: 29 July 2024
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Accepted: 4 August 2024
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Published: 6 August 2024
Abstract
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.
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MDPI and ACS Style
Michalski, J.; Mrotek, M.; Retinger, M.; Kozierski, P.
Adaptive Active Disturbance Rejection Control with Recursive Parameter Identification. Electronics 2024, 13, 3114.
https://doi.org/10.3390/electronics13163114
AMA Style
Michalski J, Mrotek M, Retinger M, Kozierski P.
Adaptive Active Disturbance Rejection Control with Recursive Parameter Identification. Electronics. 2024; 13(16):3114.
https://doi.org/10.3390/electronics13163114
Chicago/Turabian Style
Michalski, Jacek, Mikołaj Mrotek, Marek Retinger, and Piotr Kozierski.
2024. "Adaptive Active Disturbance Rejection Control with Recursive Parameter Identification" Electronics 13, no. 16: 3114.
https://doi.org/10.3390/electronics13163114
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