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A Novel Time-Varying Spectrum Based Approach to Active Disturbance Rejection Control

[+] Author Affiliations
Zhiqiang Pu, Xiangmin Tan, Ruyi Yuan, Jianqiang Yi

Chinese Academy of Sciences, Beijing, China

Paper No. DETC2017-67096, pp. V009T07A010; 7 pages
  • ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 9: 13th ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
  • Cleveland, Ohio, USA, August 6–9, 2017
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5823-3
  • Copyright © 2017 by ASME


This paper presents a comprehensive framework for developing a novel time-varying spectrum based active disturbance rejection control (TVS-ADRC) technique. It complements conventional linear or nonlinear ADRC by introducing time-varying components, including time-varying extended state observer, time-varying tracking differentiator, and time-varying feedback, to offer better design flexibility and improved performance in command filtering, disturbance observation, and closed-loop control. First, skeleton stability and convergence analysis is introduced based on differential algebraic spectral theory. Then parameter tuning is categorized into two time-varying principles: a time-based profile and a state-dependent function, and a unified parameterization approach is given by assigning time-varying eigenvalues. Typical applications are pointed out which demonstrate great advantages of TVS-ADRC in consideration of varying plant or environment features and physical limits in practical systems. Challenges and future work for the TVS-ADRC technique are also summarized in the end.

Copyright © 2017 by ASME



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