Design and analysis of active disturbance rejection control for time-delay systems using frequency-sweeping

doi:10.23919/JSEE.2023.000046

Journal of Systems Engineering and Electronics ›› 2023, Vol. 34 ›› Issue (2): 479-491.doi: 10.23919/JSEE.2023.000046

• • 上一篇

收稿日期:2021-03-12 出版日期:2023-04-18 发布日期:2023-04-18

Design and analysis of active disturbance rejection control for time-delay systems using frequency-sweeping

Yongshuai WANG¹(), Zengqiang CHEN¹^,²^,*(), Mingwei SUN¹(), Qinglin SUN¹()

¹ College of Artificial Intelligence, Nankai University, Tianjin 300350, China
² Key Laboratory of Intelligent Robotics of Tianjin, Tianjin 300350, China

Received:2021-03-12 Online:2023-04-18 Published:2023-04-18
Contact: Zengqiang CHEN E-mail:541455366@qq.com;chenzq@nankai.edu.cn;smw_sunmingwei@163.com;sunql@nankai.edu.cn
About author:
WANG Yongshuai was born in 1993. She received her M.S. degree in control science and engineering from Nankai University, Tianjin, China, in 2019. She is currently pursuing her Ph.D. degree in control science and engineering with the College of Artificial Intelligence, Nankai University, Tianjin. Her research interests include predictive control and active disturbance rejection control. E-mail: 541455366@qq.com

CHEN Zengqiang was born in 1964. He received his M.S. degree in control theory and control engineering from Nankai University, Tianjin, China, in 1990, and Ph.D. degree in control theory and control engineering from Nankai University, Tianjin, China, in 1997. In 1990, he joined the College of Artificial Intelligence, Nankai University, Tianjin, China, where he is a full professor. His research interests are intelligent predictive control, active disturbance rejection control, multi-agent systems, and complex networks. E-mail: chenzq@nankai.edu.cn

SUN Mingwei was born in 1972. He received his M.S. and Ph.D. degrees in control theory and control engineering from Nankai University, Tianjin, China, in 2000. In 2009, he joined the College of Artificial Intelligence, Nankai University, Tianjin, China, where he is a full professor. His research interests are predictive control, active disturbance rejection control, and aircraft guidance and control. E-mail: smw_sunmingwei@163.com

SUN Qinglin was born in 1963. He received his M.S. degree from Tianjin University, Tianjin, China, in 1990, and Ph.D. degree in control theory and control engineering from Nankai University, Tianjin, China, in 2003. In 1998, he joined the College of Artificial Intelligence, Nankai University, Tianjin, China, where he is a full professor. His research interests are adaptive control, active disturbance rejection control, flexible aircraft modeling and control. E-mail: sunql@nankai.edu.cn
Supported by:
This work was supported by the National Natural Science Foundation of China (61973175;61973172;62073177), the Key Technologies R&D Program of Tianjin (19JCZDJC32800), and Tianjin Research Innovation Project for Postgraduate Students (2020YJSZXB02).

摘要/Abstract

Abstract:

For the typical first-order systems with time-delay, this paper explors the control capability of linear active disturbance rejection control (LADRC). Firstly, the critical time-delay of LADRC is analyzed using the frequency-sweeping method and the Routh criterion, and the stable time-delay interval starting from zero is accurately obtained, which reveals the limitations of general LADRC on large time-delay. Then in view of the large time-delay, an LADRC controller is developed and verified to be effective, along with the robustness analysis. Finally, numerical simulations show the accuracy of critical time-delay, and demonstrate the effectiveness and robustness of the proposed controller compared with other modified LADRCs.

Key words: active disturbance rejection control, frequency-sweeping method, critical time-delay, Routh criterion, system with large time-delay

. [J]. Journal of Systems Engineering and Electronics, 2023, 34(2): 479-491.

Yongshuai WANG, Zengqiang CHEN, Mingwei SUN, Qinglin SUN. Design and analysis of active disturbance rejection control for time-delay systems using frequency-sweeping[J]. Journal of Systems Engineering and Electronics, 2023, 34(2): 479-491.

图/表 19

参考文献 28

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Method	Control parameter	Model-based
TDS-LADRC	$\begin{gathered} {\omega _{ {c} } } = 1\;{\rm{rad/s} },\;{\omega _{ {o} } } = 2\;{\rm{rad/s} } \\ {b_0} = 10,\;{T_m} = 190\;{\rm{s} } \\ \end{gathered}$	No
SP-LADRC	$\begin{gathered} {\omega _{ {c} } } = 0.5\;{\rm{rad/s} },\;{\omega _{ {o} } } = 0.5\;{\rm{rad/s} },\;{b_0} = 15\;{\rm{rad/s} } \\ { { {\rm{SP} } } }:\frac{2}{ {10s + 1} }(1 - { {\rm{e} }^{ - 1\;000\;{{s} } } }) \\ \end{gathered}$	Yes
PP-LADRC	$\begin{gathered} {\omega _{ {c} } } = 0.8\;{\rm{rad/s} },\;{\omega _{ {o} } } = 0.15\;{\rm{rad/s} } \\ {b_0} = 50,\;\tau ' = 300\;{\rm{s} } \\ \end{gathered}$	No

Design and analysis of active disturbance rejection control for time-delay systems using frequency-sweeping

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