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| 1 | On the characteristics of ADRC:a PID interpretation显示文摘Dear editor,This study reports the discovery of active disturbance rejection control(ADRC).Second-order linear ADRC(LADRC),the basic and most popular ADRC,can be interpreted as a modified proportional-integral-derivative(PID)control.LADRC filters the PID feedback compensator with a second-order low-pass filter;it also adds a pre-filter. | Huiyu JIN Jingchao SONG Weiyao LAN Zhiqiang GAO | 2020 | Science China(Information Sciences)2020，63，10： | 9 |
| 2 | Position tracking and attitude control for quadrotors via active disturbance rejection control method显示文摘In this paper, a trigonometric-saturation-function-based position controller is designed for the quadrotor system with internal and external disturbances. Furthermore, in the attitude control problem, a dual closed-loop structure is put forward. Specifically, a nonlinear extended-state-observer(ESO) is employed to provide an estimate for the so-called total disturbance. Then, based on the estimate provided by the ESO,a nonlinear composite control strategy is designed for the purpose of angular tracking. Some sufficient conditions are established to guarantee that the position and attitude subsystems are stable. The contributions are mainly as follows.(1) A trigonometric-saturation-function is used in the position control which could guarantee that the studied system is fully-actuated.(2) The nonlinear ESO is implemented in the attitude control-loop which could enhance the anti-disturbance property. Finally, some numerical simulations and practical experiments are provided to verify the applicability of the proposed methodology. | Yuan YUAN Lei CHENG Zidong WANG Chong SUN | 2019 | Science China(Information Sciences)2019，62，1： | 5 |
| 3 | Event-triggered attitude tracking for rigid spacecraft显示文摘This study aims to investigate the problem of attitude control for a spacecraft with inertial uncertainties, external disturbances, and communication restrictions. An event-triggered active disturbance rejection control approach is proposed for attitude tracking of the spacecraft. An event-triggered mechanism is introduced together with an extended state observer to jointly monitor the system states and total disturbances. The observation error is proved to be uniformly bounded. Based on the proposed control scheme,the integrated tracking system is shown to be asymptotically stable, implying successful attitude tracking of the spacecraft for the desired motion. Numerical results illustrate the effectiveness of the control strategy in achieving satisfactory tracking performance with a reduced data-transmission cost. | Deheng CAI Hengguang ZOU Junzheng WANG Yuan HUANG Dawei SHI | 2019 | Science China(Information Sciences)2019，62，12： | 3 |
| 4 | 变论域自适应模糊分数阶自抗扰控制器设计显示文摘提出了一种变论域自适应模糊分数阶自抗扰控制算法,用以提高分数阶系统的性能;在变论域自适应模糊控制的设计中,引入分数阶扩张状态观测器和分数阶跟踪微分器;在变论域自适应模糊分数阶自抗扰控制中,利用分数阶跟踪微分器将输入信号转化为平滑跟踪和高质量差分信号,用扩张状态观测器获取每个状态变量的估计值、不确定性的实时动态模型以及外部扰动.为了消除稳态误差,提高控制精度,提出了可变值域的扩张状态误差积分;将变论域自适应模糊分数阶自抗扰控制算法和分数阶自抗扰控制(FADRC)算法对典型的分数阶系统进行仿真,验证了所提方案的优越性和有效性. | 郭栶花 王加银 | 2022 | 北京师范大学学报(自然科学版)2022，58，1： | 3 |
| 5 | An enhanced anti-disturbance control law for systems with multiple disturbances显示文摘Dear editor,The requirements for control performances(e.g.,the control accuracy)are highly increasing in practical engineering systems.However,multiple disturbances,which consist of internal disturbances,external disturbances,and model uncertainties in complex control systems may degrade the control performance[1]. | Yukai ZHU Lei GUO Xiang YU Yuan YUAN | 2020 | Science China(Information Sciences)2020，63，10： | 2 |
| 6 | 基于直线音圈电机运动平台的线性自抗扰控制研究显示文摘运动平台是机床设备中重要的组成部分,广泛使用的机械导轨式运动平台定位精度难于突破微米级,摩擦是影响机械导轨式运动平台定位精度的主要原因。为解决摩擦作用导致的运动平台动态性能难以提升的问题,针对直线音圈电机运动平台设计了一种线性自抗扰控制器。将PD控制器和带模型信息的扩张状态观测器相结合,带模型信息的扩张状态观测器可以根据控制输入量和位置误差估计出平台运动过程中受到的摩擦力,并在控制输入量中进行补偿。该观测器很好地补偿了摩擦扰动,从而提高了系统的鲁棒性和跟踪性能。仿真实验表明:该线性自抗扰控制器与PID控制器相比,可有效提高直线音圈电机运动平台的动态性能。 | 王炫予 杨志军 彭皓 袁伟涛 | 2020 | 机床与液压2020，48，19： | 2 |
| 7 | 自抗扰无人车纵向编队跟踪控制显示文摘针对空气阻力,非线性摩擦以及外部干扰等无法精确建模的复杂不确定性因素对无人车纵向编队跟踪控制的不利影响,为提升控制精度和收敛速度,文章提出了基于前车与自身状态信息的自抗扰无人车纵向编队跟踪控制设计方法.文章通过构造扩张状态观测器在线估计由前车与当前车辆系统内部未建模动态以及外部干扰等不确定性因素构成的总扰动,并在反馈控制中利用总扰动的估计值消除总扰动的不利影响以提升控制性能品质.文章严格证明了控制闭环系统的稳定性和收敛性并利用仿真验证了所提出方法的优越性. | 史豪楠 陈森 赵志良 | 2021 | 系统科学与数学2021，41，2： | 2 |
| 8 | Design and stability analysis of a generalized reduced-order active disturbance rejection controller显示文摘Disturbance and uncertainty rejection is a key objective in control system design, and active disturbance rejection control(ADRC)exactly provides an effective solution to this issue. To this end, this paper presents a generalized active disturbance rejection controller for a class of nonlinear uncertain systems with linear output. To be specific, a generalized reduced-order extended state observer(ESO) is proposed to reduce phase delay and complexity of the system, which can take full advantage of the system output. Also, this method includes the existing results with fewer assumptions, and can be applied to systems with any order measurable states or multiple states, even linear combination states. Furthermore, the stability of this approach is guaranteed and demonstrated through matrix transformation and Lyapunov method, and design examples and numerical simulations are given to show the effectiveness and practicability of the method. | WANG YongShuai CHEN ZengQiang SUN Ming Wei SUN QingLin | 2022 | Science China(Technological Sciences)2022，65，2： | 2 |
| 9 | 非线性多输入多输出连续时间系统基于历史采样数据的不确定性因素补偿控制显示文摘本文针对一类具有强耦合不确定性因素的连续时间多输入多输出非线性系统,提出了基于历史采样数据的不确定性因素补偿控制策略(sampled-data-based compensation control,SDBCC).与基于观测器的不确定性因素补偿控制不同,本文首先利用当前以及历史采样数据计算出由系统非线性耦合未建模动态和外部扰动构成的总扰动在前一采样周期内某时刻的精确值,然后利用该精确值在反馈环节对总扰动进行补偿以消除它的不利影响.连续时间系统在数据驱动的反馈控制作用下构成了一个混杂闭环控制系统,这连同系统的强耦合非线性不确定性因素为控制闭环系统的稳定性收敛性分析带来了挑战.为克服这一难题,本文发展了基于特征值和迭代序列的分析方法,证明了当系统跟踪目标为有界函数时,跟踪误差可随采样周期的减小而任意小,进而当跟踪目标为常数,并且系统的非线性项为时不变连续可微函数时,跟踪误差随时间趋于无穷大而趋近于零.二自由度无人机姿态控制的仿真结果验证了本文所提出方法的有效性和优越性. | 姚慧颖 赵志良 陈森 柴天佑 | 2022 | 中国科学:信息科学2022，52，3： | 1 |
| 10 | 不确定非仿射系统的引入动态逆的自抗扰控制器设计显示文摘针对一类不确定非仿射严反馈非线性系统,提出一种引入动态逆的线性自抗扰控制器设计方法.首先,利用微分同胚映射将严反馈非线性系统变换为积分串联型系统,然后针对积分串联型系统设计线性自抗扰控制器.提出的线性自抗扰控制器将闭环系统划分为3个时间尺度,其中线性扩张状态观测器位于最快的时间尺度上,用来估计系统的状态和总和扰动,动态逆位于次快的时间尺度上用以求解非仿射情况下的控制律,系统动态位于最慢的时间尺度上.利用奇异摄动理论分析了闭环系统的稳定性和性能.提出的自抗扰控制设计方法同样适用于控制增益不确定的仿射非线性系统.仿真和实验结果验证了提出的线性自抗扰控制器的可行性. | 陈志翔 高钦和 | 2020 | 控制理论与应用2020，37，11： | 1 |
| 11 | 基于光通信快速反射镜的改进型自抗扰控制算法显示文摘为了解决机载激光通信平台在工作环境中,因自身运动姿态的变换、工作环境的不稳定、外界大气湍流等外界因素对跟踪系统的干扰问题,提出一种比例积分微分(PID)与自抗扰控制(ADRC)结合的算法,在线性的自抗扰环节加入PID控制算法,对系统进行仿真和实验测试。结果表明,改进型ADRC在跟踪精度、抗扰动能力和鲁棒性方面都优于传统ADRC,改进型ADRC在跟踪精度上约为6.8μrad,传统ADRC的跟踪精度约为8μrad,可以看出,改进型ADRC的跟踪精度较传统ADRC提高了15%左右。将改进型ADRC系统的控制算法代入实际的快反镜系统中也有良好的跟踪效果。 | 李俊华 董岩 林本震 刘洋 | 2023 | 激光与光电子学进展2023，60，7： | 1 |
| 12 | 执行器故障不确定非线性系统的自抗扰控制显示文摘针对不确定非线性系统的执行器故障问题,提出一种基于扩张状态观测器的自抗扰控制方法。首先,将系统的内部扰动、外部扰动,以及实际故障执行器和理想线性执行器之间的偏差定义为总扰动,并利用扩张状态观测器进行实时估计和补偿,消除总扰动对系统输出的影响;然后,设计误差反馈控制律,使系统获得满意的跟踪性能;最后,两个二阶控制系统的仿真结果表明了所提控制方法的有效性。 | 丁健 刘志刚 郭琼 杨慧中 | 2021 | 控制工程2021，28，12： | 1 |
| 13 | Equivalent input disturbance-based load frequency control for smart grid with air conditioning loads显示文摘Integrating intermittent wind power into power systems results in low or zero inertia,threatening their frequency stability.To accommodate intermittent generations,the demand response(DR)is introduced,and air conditioning loads(ACs)account for an increasing proportion of all loads.The replacement of traditional generators with wind turbines and the ACs user uncertainties produce parameter uncertainties.This paper aims to construct an equivalent input disturbance(EID)-based load frequency control(LFC)strategy for the power system by considering wind power and ACs.First,an open-loop model is constructed for the LFC scheme with parameter uncertainties.Then,the parameter uncertainties and external disturbance are lumped into a fictitious disturbance,which is estimated using an EID estimator.By incorporating the estimation of disturbance into the control input,the disturbance-rejection performance is achieved.Next,the Lyapunov theory is used to derive the two linear-matrix-inequality-based asymptotic stability criteria.A design algorithm is developed for the EID-based LFC scheme by exploiting an overall performance evaluation index.Finally,simulation results for the single-area and two-area LFC schemes show that,compared with the existing approaches,the method presented realizes the better disturbance rejection and higher robustness against parameter uncertainties,wind power fluctuation,and tie-line power changes.Additionally,its robustness to time delays is verified. | Li JIN Yong HE Chuan-Ke ZHANG Xing-Chen SHANGGUAN Lin JIANG Min WU | 2022 | Science China(Information Sciences)2022，65，2： | 1 |
| 14 | 含二阶扰动补偿的交错并联变换器自抗扰控制显示文摘光伏微电网是分布式能源的重点发展方向,针对微电网中交错并联式双向直-直变换器的端口存在较大扰动时自抗扰控制策略的性能不佳的问题,提出一种基于二阶扰动信息补偿的自抗扰控制器。引入两维状态变量共同补偿控制系统的内部模型偏差量与外部扰动,实现了对总和扰动状态的精确重构。利用跟踪微分器生成的给定信号误差微分值改进了线性控制策略,以达到优化电压信号跟踪精度的目的。通过理论推导给出了改进控制器的可调参数物理意义及整定公式,并从噪声抑制、扰动补偿、频域特性等方面的理论与数值分析指出了改进后的控制器能够提升控制效果的原因。仿真对比表明,在不改变调参难度的基础上,使用二阶扰动信息补偿的自抗扰控制器在信号跟踪性能、抗扰性能与鲁棒性能上均优于传统自抗扰和双闭环PI控制策略。 | 周雪松 王博 马幼捷 陶珑 杨清 | 2023 | 电机与控制学报2023，27，12： | 0 |
| 15 | Finite-horizon resilient state estimation for complex networks with integral measurements from partial nodes显示文摘This paper proposes a finite-horizon state estimation method for a kind of complex network that suffers from randomly occurring gain variations. The method involves utilizing integral measurements from a portion of nodes in such complex networks. Integral measurements are carried out to characterize time delays that occur in signal acquisition together with real-time signal processing. Measurements from only partial nodes reflect the fact that signals of several sensors are unacquirable. A Gaussian random variable is utilized to depict the random appearance of gain variations during the practical implementation of estimators. The aim of this paper is to construct finite-horizon resilient estimators for complex networks in view of integral measurements from a portion of nodes that fulfill the specified H∞ performance demand involving a specified disturbance attenuation level. Necessary and sufficient conditions are put forward to ensure that such ideal estimators exist by employing stochastic analysis as well as using the completing squares method. The gain parameters of the finite-horizon estimators are expressed by adopting the Moore-Penrose pseudoinverse and acquired through solving the solutions to a group of coupled backward recursive Riccati difference equations with constraint conditions. A confirmatory instance is carried out that demonstrates the feasibility of the newly developed estimation algorithm. | Nan HOU Jiahui LI Hongjian LIU Yuan GE Hongli DONG | 2022 | Science China(Information Sciences)2022，65，3： | 0 |
| 16 | 奈奎斯特判据在时滞对象自抗扰控制中的应用显示文摘奈奎斯特判据是研究控制系统稳定性的传统工具,但目前在教学中受重视不够.本文用奈奎斯特判据研究了一阶时滞对象线性自抗扰控制的稳定性,其中对象不稳定或临界稳定,同时采用降阶扩张状态观测器.先通过框图把问题简化为时滞对象反馈控制的标准形式,再分情况绘制奈奎斯特图,分析稳定性.得到了和近期结果一致的稳定性充要条件.表明奈奎斯特判据并未过时,仍可在控制理论的研究和教学中发挥重要作用. | 金辉宇 倪刚 兰维瑶 李智斌 | 2022 | 厦门大学学报(自然科学版)2022，61，6： | 0 |
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