控制理论与技术（英文版）/Journal Control Theory and TechnologyCSCDEI
查看更多>>“Journal of Control Theory and Applications”(《控制理论与应用》(英文版))是由国家教育部主管、华南理工大学主办的全国性学术刊物。2003年创刊，双月刊、 A4开本，国内外公开发行。本刊主要报道系统控制科学中具有新观念、新思想的理论研究成果及其在各个领域中，特别是高科技领域中的应用研究成果。本刊设置的栏目主要有：论文、短文、书刊评介、国内外学术动态等。读者对象为从事控制理论与应用研究的科技人员，高校师生及其它有关人员。
查看更多>>摘要：The paper analyzes and compares the phase margins of four active disturbance rejection control(ADRC)designs,which are based on different common-used extended state observers(ESOs)of various orders,for second-order systems.The quantitative results indicate that,besides good dynamic response,ADRC can guarantee enough phase margin.It is also proved that by decreasing the order of ESO,the phase margin can be increased.Furthermore,it is demonstrated that the phase margins of the ADRC-based systems can be almost uninfluenced by the uncertainties of the system parameters.Finally,the theoretical results are verified by both simulations and experiments on a motion control platform.
查看更多>>摘要：Controller optimization has mostly been done by minimizing a certain single cost function.In practice,however,engineers must contend with multiple and conflicting considerations,denoted as design indices(DIs)in this paper.Failure to account for such complexity and nuances is detrimental to the applications of any advanced control methods.This paper addresses this challenge heads on,in the context of active disturbance rejection controller(ADRC)and with four competing DIs:stability margins,tracking,disturbance rejection,and noise suppression.To this end,the lower bound for the bandwidth of the extended state observer is first established for guaranteed closed-loop stability.Then,one by one,the mathematical formula is meticulously derived,connecting each DI to the set of controller parameters.To our best knowledge,this has not been done in the context of ADRC.Such formulas allow engineers to see quantitatively how the change of each tuning parameter would impact all of the DIs,thus making the guesswork obsolete.An example is given to show how such analytical methods can help engineers quickly determine controller parameters in a practical scenario.
查看更多>>摘要：In this paper,an adaptive disturbance-rejection proportional-integral-differential(PID)control method is proposed for a class of nonlinear systems.First,PID-type criterion is introduced in a model-free adaptive control(MFAC)framework,which gives an optimal control interpretation for PID controller.Then,the design of adaptive disturbance rejection PID is proposed based on this new interpretation to realize controller gain auto-tuning.Due to the ingenious integration of active disturbance rejection and adaptive mechanism,the proposed adaptive disturbance rejection PID control scheme exhibits better control performance than MFAC case.Furthermore,the boundedness of controller gain,the convergence of tracking error and the bounded-input-bounded-output stability are proved for the proposed control system.Finally,the effectiveness of the proposed method is verified by numerical simulation.
查看更多>>摘要：Differential signals are key in control engineering as they anticipate future behavior of process variables and therefore are critical in formulating control laws such as proportional-integral-derivative(PID).The practical challenge,however,is to extract such signals from noisy measurements and this difficulty is addressed first by J.Han in the form of linear and nonlinear tracking differentiator(TD).While improvements were made,TD did not completely resolve the conflict between the noise sensitivity and the accuracy and timeliness of the differentiation.The two approaches proposed in this paper start with the basic linear TD,but apply iterative learning mechanism to the historical data in a moving window(MW),to form two new iterative learning tracking differentiators(IL-TD):one is a parallel IL-TD using an iterative ladder network structure which is implementable in analog circuits;the other a serial IL-TD which is implementable digitally on any computer platform.Both algorithms are validated in simulations which show that the proposed two IL-TDs have better tracking differentiation and de-noise performance compared to the existing linear TD.
查看更多>>摘要：In this work,we investigate two specific linear ADRC structures,namely output-and error-based.The former is considered a"standard"version of ADRC,a title obtained primarily thanks to its simplicity and effectiveness,which have spurred its adoption across multiple industries.The latter is found to be especially appealing to practitioners as its feedback error-driven structure bares similarities to conventional control solutions,like PI and PID.In this paper,we describe newly found connections between the two considered ADRC structures,which allowed us to formally establish conditions for their equivalence.Furthermore,the conducted comprehensive performance comparison between output-and error-based ADRCs has facilitated the identification of specific modules within them,which can now be conveniently used as building blocks,thus aiding the control designers in customizing ADRC-based solutions and making them most suitable for their applications.
查看更多>>摘要：Practical implementations of active disturbance rejection control(ADRC)will almost always take place in discretized form.Since applications may have quite different needs regarding their discrete-time controllers,this article summarizes and extends the available set of ADRC implementations to provide a suitable variant for as many as possible use cases.In doing so,the gap between quasi-continuous and discrete-time controller tuning is closed for applications with low sampling frequencies.The main contribution of this article is the derivation of three different discrete-time implementations of error-based ADRC.It is shown that these are almost one-to-one counterparts of existing output-based implementations,to the point where transfer functions and coefficients can be reused in unaltered form.In this way,error-based implementations become firmly rooted in the established landscape of discrete-time ADRC.Furthermore,it becomes possible to equip error-based variants with windup protection abilities known from output-based ADRC.
查看更多>>摘要：Borrowing the framework of the geometric approach,this paper tries to analyze and explain why it is possible for the extended state observer(ESO)to estimate the state vector and total disturbance accurately.The geometric approach has provided an elegant and rigorous framework to redefine some key concepts in modern control theory,such as controllability and observability.Moreover,those concepts can be extended to deal with systems in the presence of inaccessible disturbances,such as controlled invariants and conditioned invariants.It is shown in this paper that the augmented system of the ESO is unknown-state unknown-input completely reconstructable in finite time interval.A numerical simulation is given to verify the state vector and total disturbance can be estimated accurately by the ESO if the augmented system is unknown-state unknown-input completely reconstructable.
查看更多>>摘要：Treating plant dynamics as an ideal integrator chain disturbed by the total disturbance is the hallmark of active disturbance rejection control(ADRC).To interpret its effectiveness and success,to explain why so many vastly different dynamic systems can be treated in this manner,and to answer why a detailed,accurate,and global mathematical model is unnecessary,is the target of this paper.Driven by a motivating example,the notions of normality and locality are introduced.Normality shows that,in ADRC,the plant is normalized to an integrator chain,which is called local nominal model and locally describes the plant's frequency response in the neighborhood of the expected gain crossover frequency.Locality interprets why ADRC can design the controller only with the local information of the plant.With normality and locality,ADRC can be effective and robust,and obtain operational stability discussed by T.S.Tsien.Then viewing proportional-integral-derivative(PID)control as a low-frequency approximation of second-order linear ADRC,the above results are extended to PID control.A controller design framework is proposed to obtain the controller in three steps:(1)choose an integrator chain as the local nominal model of the plant;(2)select a controller family corresponding to the local nominal model;and(3)tune the controller to guarantee the gain crossover frequency specification.The second-order linear ADRC and the PID control are two special cases of the framework.
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