This book, written by two major figures in adaptive control, provides a wealth of material for researchers, practitioners, and students. While some researchers in adaptive control may note the absence of a particular topic, the book‘s scope represents a high-gain instrument. It can be used by designers of control systems to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs. The book is strongly recommended to anyone interested in adaptive control.

Adaptive Control

The methodology of ADRC and the progress of its theoretical analysis are reviewed in the paper. Several breakthroughs for control of nonlinear uncertain systems, made possible by ADRC, are discussed. The key in employing ADRC, which is to accurately determine the “total disturbance” that affects the output of the system, is illuminated. The latest results in theoretical analysis of the ADRC-based control systems are introduced.

Active disturbance rejection control: Methodology and theoretical analysis

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Hydraulic Control Systems

This paper gives a comprehensive overview on disturbance/uncertainty estimation and attenuation (DUEA) techniques in permanent-magnet synchronous motor (PMSM) drives. Various disturbances and uncertainties in PMSM and also other alternating current (ac) motor drives are first reviewed which shows they have different behaviors and appear in different control loops of the system. The existing DUEA and other relevant control methods in handling disturbances and uncertainties widely used in PMSM drives, and their latest developments are then discussed and summarized. It also provides in-depth analysis of the relationship between these advanced control methods in the context of PMSM systems. When dealing with uncertainties, it is shown that DUEA has a different but complementary mechanism to widely used robust control and adaptive control. The similarities and differences in disturbance attenuation of DUEA and other promising methods such as internal model control and output regulation theory have been analyzed in detail. The wide applications of these methods in different ac motor drives (in particular in PMSM drives) are categorized and summarized. Finally, the paper ends with the discussion on future directions in this area.

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Disturbance/Uncertainty Estimation and Attenuation Techniques in PMSM Drives—A Survey

This paper proposes the adaptive extended state observer (AESO)-based active disturbance rejection control (ADRC) to deal with the uncertainties, both in the plant and in the sensors. The gain of ESO is automatically timely tuned to reduce the estimation errors of both states and “total disturbance” against the measurement noise. Furthermore, the satisfactory performance of the closed-loop system is achieved by compensation for uncertainties. This novel controller is applied to the air–fuel ratio (AFR) control of gasoline engine, which has large nonlinear uncertainties due to the unknown speed change, fuel film dynamics, etc. In addition, the measurement of AFR is polluted by sensor noise. The experimental results demonstrate that the proposed controller can ensure high deviation precision of AFR despite both uncertain dynamics and measurement noise. Moreover, the experimental comparison validates the effectiveness of the AESO's gain by which the performance of ADRC on mitigating uncertainties can be improved.

ADRC With Adaptive Extended State Observer and its Application to Air–Fuel Ratio Control in Gasoline Engines

A novel control scheme for quadrotor UAV based upon active disturbance rejection control

In this paper, a finite-time convergent sliding-mode guidance law with terminal impact angle constraint is presented. The guidance law insures that the line-of-sight angular rate will converge to zero before the final time of the guidance process. Meanwhile the flight-path angle will meet the terminal impact angle requirement. Based on the finite-time convergence stability theory and the variable structure control theory, the finite convergence time is determined. Finally, the simulation results show that the guidance law is effective.

Finite-time convergent guidance law with impact angle constraint based on sliding-mode control

Friction compensation is usually realized based on a friction model; however, the induced undercompensation or overcompensation, which can lead to steady-error or limit-cycle phenomenon, respectively, is inevitable. A novel straightforward reference compensation scheme for the brushless dc servo system independent of the friction model is presented to reject the aftereffect caused by the friction instead of its original mechanics. Neither the accurate friction model nor any estimation of some specific characteristic parameters is needed in this design. Moreover, the inexact velocity estimation information is not as crucial as it is in the traditional compensation methods. A linear control law is proposed based on a reduced-order observer, which could be readily implemented in low-cost embedded fixed-point chips. Two guidelines for the selection of control parameters are presented in terms of delay sensitivity and limit-cycle avoidance. The approach can be applied to the cases with multiple disturbance torque sources except the friction one, where the friction-model-based strategy is difficult to take effect. Finally, comparative mathematical simulation and practical experiment results are used to validate the effectiveness of the proposed method. Substantial low-velocity performance improvements are achieved in the hardware experiments.

Mingwei Sun

Papers

A novel control scheme for quadrotor UAV based upon active disturbance rejection control

Finite-time convergent guidance law with impact angle constraint based on sliding-mode control

On Low-Velocity Compensation of Brushless DC Servo in the Absence of Friction Model

Active disturbance rejection control on first-order plant

Q-Learning-based parameters adaptive algorithm for active disturbance rejection control and its application to ship course control