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May 2013
Contents of Presentation
Introduction to ADRC
Conclusions
Introduction
Active Disturbance Rejection Control (ADRC) is based on:
Retain input gain (matrix) and (multi-index) order of the system
output as the only required design elements.
Simultaneously estimate, from the available outputs,
a.- unmeasured states or output phase variables and
b.- lumped effects of endogenous (state-dependent) uncertainties
exogenous disturbances, unmodeled dynamics or neglected higher
order terms (h.o.t.) affecting the input-output dynamics.
Key idea: Treat these lumped effects as if they were unknown
time-varying functions (i.e., signals).
Devise a controller that cancels all uncertain effects, while using the
estimated states to complete a suitable static, or dynamic, feedback
controller of the (hopefully linear) remaining, well known, part of
the system.
+ [y (t)](n)
(t)
y 0
y 1
..
y n1
z 1
..
.
z m
Pn1
j=0
j (yj [y (t)](j) )
= y1 + m+n1 (y y0 )
= y2 + m+n2 (y y0 )
= (t, y , y1 ..., yn1 )u + z1 + m (y y0 )
= z2 + m1 (y y0 )
= 0 (y y0 ),
= z1
(t)
x 1 =
x 2
y
1
u
A
c
x1
A
x1
y = x2
y =
2 2
1
c /A
c y
c2
u
2
c
2A y + A y
2A y
2A
c y(t)
c2
p
2
2A y (t) 2A
y 1
z 1
z 2
=
=
z 3
z 4
=
=
y1 + 5 (y y0 )
2 2
1
c /A
u + z1 + 4 (y y0 )
2A y1 + ca y
z2 + 3 (y y0 )
z3 + 2 (y y0 )
z4 + 1 (y y0 )
= z1
0 (y y0 ), (t)
y(t), y (t)
4
2
0
10
5
0
0
2
10
20
30
40
50
60
20
30
40
50
60
20
30
40
50
60
x1 (t)
10
u(t)
1
0
0
10
0
0.01
z1 s(t)
0.02
0.03
0.04
0.05
0.06
0.07
0
10
20
30
40
50
60
Liquid heights
0.4
15
10
x1 (t)
0.2
p(t)
0
5
0
0
y(t) = x2 (t)
10
20
30
0.2
time
40
50
0.4
0
(t)
time
10
40
50
40
50
4
3
10
0
0
30
control input
15
20
(y, y)
(y, y1 )
10
u(t)
1
20
30
time
40
50
0
0
10
20
30
time
5.5
5
4.5
y(t) = x2(t)
4
3.5
y(t)
3
time
2.5
0
10
15
20
25
30
35
40
45
50
c
1
c
c
x1 + u, x 2 =
x2 +
x1
A
A
A
A
+
y
c2
A
c
2A2
c y
u = A y +
y 1 + 2 y +
A
c
2A y
x 1 = x2
x 2 = 2x2 2 x1 +
a 2
u
2g
x 3 = x4
x 4 = u
x1 : liquid height, above the resting level
x2 : corresponding rate of the liquid height
x3 : position of the container
x4 : its associated velocity
u: applied force input
, : liquid natural oscillation frequency and damping factor.
Flat output
F
2
4
2
1 + 4 g x1 +
g x2
4a
a 5
1
2
+
x3
x4
2
3
x2
x3
x4
u
=
=
a 2
F
2g
a 2 (3)
F
2g
2 F + 2 F + F
2 F + 2 F + F (3)
2 F + 2F (3) + F (4)
F LF
(3)
L
(F )2
v1 = u1 = F (4) , v2 = u2
One now gets the invertible extended inputs-to-flat-outputs relation
#
(4)
"
0
1 0
F
v1
=
+ LF
(3)
v2
0 F
L
u1
u2
x1 = F , x3 = R, x2 = Ks
= R,
F R + 2F R + F R
i
= Ks h
FR (F R + F R)
F R + F R
FR (F R + F R)
h
i
R
F R + F R F R + 2F R + F R
h
i2
FR (F R + F R)
!
"
#
F R + RF
R
F R + F R
+ Ks
FR
R
FR (F R + F R)
F R + F R
1
Ysx
"
x 1
x 2
x 3
x2
x1
=
x1 x4
Ks + x2
x3
1
x2
x4 (v2 x2 )
=
+
Ks + x2 Ysx
x3
= x4
x 4 = x5
x 5 = v1
which now exhibits a well defined vector relative degree for R and
F given by:
(3, 2)
Notice that the additional states x4 , x5 are readily available as
integrals of the auxiliary control input v1 .
v2
x5 = R,
x1 = F ,
= R (3) , x3 = R, x4 = R,
"
#
F R + F R
= Ks
FR (F R + F R)
F R + 2F R + F R
i
= Ks h
FR (F R + F R)
h
i
R
F R + F R F R + F R F R + 2F R + F R
h
i2
FR (F R + F R)
!
"
#
1
F R + RF
R
F R + F R
+
+ Ks
Ysx
FR
R
FR (F R + F R)
= v1
h
i2
FR (F R + F R)
R
R,
F , F )
=
v2 + (R , R,
Ks FR 3
h
i2
FR (F R + F R)
R
R,
F , F ) =
(R, R,
Ks FR 3
(
R + F R)
(F R + F R)
2F R F R
(
F
2
F
R
+
F
R
RKs
+
h
i2
FR (F R + F R)
R
FR (F R + F R)
)
R
F R + F R
F R + F R
Ks
Ysx
FR R
FR (F R + F R)
Conclusions