EXTENDED ACTIVE DISTURBANCE REJECTION CONTROLLER
First Claim
1. A system for controlling velocity of a plant, comprising:
- a first order state space model comprising a velocity value, v(t), where v(t) equals the sum of f(t) and b*u(t), f(t) represents the combined effects of internal dynamics and external disturbance of the plant, u(t) is a control signal, and b is a constant to an approximate value;
a linear extended state observer, which is a function of a single performance parameter, for estimating the value of f(t); and
a monitor adapted to cancel the effect of f(t) on the velocity value by an estimate from the linear extended state observer.
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Abstract
Multiple designs, systems, methods and processes for controlling a system or plant using an extended active disturbance rejection control (ADRC) based controller are presented. The extended ADRC controller accepts sensor information from the plant. The sensor information is used in conjunction with an extended state observer in combination with a predictor that estimates and predicts the current state of the plant and a co-joined estimate of the system disturbances and system dynamics. The extended state observer estimates and predictions are used in conjunction with a control law that generates an input to the system based in part on the extended state observer estimates and predictions as well as a desired trajectory for the plant to follow.
29 Citations
17 Claims
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1. A system for controlling velocity of a plant, comprising:
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a first order state space model comprising a velocity value, v(t), where v(t) equals the sum of f(t) and b*u(t), f(t) represents the combined effects of internal dynamics and external disturbance of the plant, u(t) is a control signal, and b is a constant to an approximate value; a linear extended state observer, which is a function of a single performance parameter, for estimating the value of f(t); and a monitor adapted to cancel the effect of f(t) on the velocity value by an estimate from the linear extended state observer. - View Dependent Claims (2, 3)
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4. A multiple-input, multiple-output controller for controlling a system, comprising:
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a discretized system model describing one or more distinct states, where each input has a distinct output and disturbance; an extended state estimator implemented in a computer component that receives a signal from a sensor that is operably connected to the system; and at least one correction term in the extended state estimator, where the at least one correction term is determined as a function of a single tuning parameter and the at least one correction term and the signal estimates system states and extended states of one or more orders. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11)
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12. A control system for a plant, comprising:
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a plurality of active disturbance rejection controllers; and a high frequency gain matrix implemented in an electronic device for receiving at least one input signal from each of the plurality of active disturbance rejection controllers and for producing a plurality of control signals u, where the plant receives the plurality of control signals u and produces a plurality of output signals y, each of said plurality of output signals further provided as an input to at least one of the plurality of active disturbance rejection controllers. - View Dependent Claims (13, 14, 15, 16, 17)
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Specification