My research interests focus on controlling uncertain systems, disturbance observers, and robust controllers. Supervisors: prof. Jun Yang, prof. Shihua Li
This survey presents various methods of improving the overall estimation quality in the class of ... more This survey presents various methods of improving the overall estimation quality in the class of extended state observers (ESO), which estimate not only the conventional states of the system, but the acting disturbance as well. This type of observers is crucial in forming the active disturbance rejection control structure (ADRC), where the precision of online perturbation reconstruction and cancellation directly influences the robustness of the closed-loop control system. Various aspects of the observer-based disturbance estimation/rejection loop are covered by this work and divided into three categories, related with observer: structure, tuning, and working conditions. The survey is dedicated to researchers and practitioners who are interested in increasing the efficiency of their ADRC-based governing schemes.
In this paper, a problem of verification under what conditions it is possible to reject disturban... more In this paper, a problem of verification under what conditions it is possible to reject disturbances in a control system with an active disturbance rejection control scheme (ADRC) is considered. The complexity of this problem varies with the structure of the disturbance acting on the system. The conducted study is based on investigating similarities between the ADRC methodology and the well-known results of classic control theory on feedback linearization and disturbance decoupling. The main result of the work is establishing (and initially proving) the ADRC-applicability conditions. Some numerical results are presented to further justify the claim.
The article proposes a method that gives the ability to consider the mathematical model of the sy... more The article proposes a method that gives the ability to consider the mathematical model of the system as a symmetry-preserving one, even if the conditions of the symmetry for the plant model are not met or if the symmetry was lost during the system operation. The proposed approach is based here on an active disturbance rejection scheme, which assumes an augmentation of the system model, which further leads to an online reconstruction and attenuation of the effects of terms in the plant, that preclude its model from being a symmetry-preserving one. The effectiveness of the proposed technique is presented in the paper using an illustrative example, supported with simulation results.
The work analyses the use of an active disturbance rejection control (ADRC) structure in a consta... more The work analyses the use of an active disturbance rejection control (ADRC) structure in a constant water pressure management system. The adaptability and robustness of the proposed control scheme significantly enhances the performance of a conventional PID-based output feedback control loop. The paper investigates the ADRC approach with a set of experiments conducted on a laboratory-scale model of a water supply system. The proposed approach is also compared with the results obtained for the sole conventional industrial PID controller.
Proc. of the International Conference on Control and Fault-Tolerant Systems, 2013
This paper analyses the robustness of the Model--Free Control (MFC) technique. The experimental t... more This paper analyses the robustness of the Model--Free Control (MFC) technique. The experimental tests are conducted on a 2DOF laboratory manipulator. The multidimensional, nonlinear, time-varying, cross-coupled, and mostly unknown dynamics of the considered system makes an effective control of such plant a highly demanding task. Obtained results are compared with the outcomes of a classical PID controller, widely used in industrial applications. The gathered experimental data makes the MFC a powerful fault-tolerant approach, that can eventually grow to a noticeable alternative to the controllers used in engineering practice nowadays.
In this paper, a technique of increasing the effectiveness of estimating the overall system uncer... more In this paper, a technique of increasing the effectiveness of estimating the overall system uncertainty with a class of high-gain disturbance observers is discussed. In theory, by introducing a particular set of additional, fictitious states to the system model, the considered observers can more effectively estimate wider variety of disturbances than in their classical forms. This work describes the verification of such theoretical statement also in practice. Both advantages and disadvantages of the proposed framework are pointed out in the paper using an Extended State Observer (ESO), that serves as an working example. An evaluation of the considered technique is carried out through a combination of numerical simulations and laboratory experiments.
Proc. of the Mediterranean Conference on Control and Automation, 2013
The paper analyses the potential use of a Nondominated Sorting Genetic Algorithm (NSGA-II) in fin... more The paper analyses the potential use of a Nondominated Sorting Genetic Algorithm (NSGA-II) in finding the parameters of an Extended State Observer (ESO). The ESO in the proposed framework is used as a part of a disturbance-rejection controller, which governs the horizontal position of a nonlinear cart-like system. The considered multicriteria optimization NSGA-II algorithm is introduced to automatically find a set of the observer design parameters that guarantee a desired (and predefined) behavior of the plant. The validity of the considered approach is verified with real experiments conducted on a laboratory testbed.
The article presents an application of a special case of an Active Disturbance Rejection Controll... more The article presents an application of a special case of an Active Disturbance Rejection Controller (ADRC) in governing a proper realization of basic limb rehabilitation trainings. The experimental study is performed on a model of a flexible joint manipulator, which behavior resembles a real robotic rehabilitation device. The multidimensional character of the considered assisting mechanism makes it a nontrivial modeling and control problem. However, by the use of the ADRC approach, the modeling uncertainty in the plant is partially decoupled from the system, which increases the robustness of the whole control framework against both internal and external disturbances.
The MPEG-7 standard is one of the first to address the issue of multimedia content with full atte... more The MPEG-7 standard is one of the first to address the issue of multimedia content with full attention. It aims to set up a standard framework for describing all aspects of items audiovisual data, including low-level descriptions of objects in an image (such as shape, texture, colour and motion). By choosing a particular set of MPEG-7 texture and colour descriptors and testing them both individually, and in various combinations, this paper proves that texture and colour descriptors binded together provide better results than when used separately. The experiments results show that Edge Histogram Descriptor mixed with combined Colour Layout Descriptor, Scalable Colour Descriptor256, and Colour Structure Descriptor and Edge Histogram Descriptor mixed with Scalable Colour Descriptor256 give most satisfying image retrieval effectiveness.
"In this paper, a measurement noise attenuation technique is applied to a state observer in order... more "In this paper, a measurement noise attenuation technique is applied to a state observer in order to decouple the noise from the estimated state variables. It is important to limit such interferences, since the estimates are: 1) used online to formulate the state feedback controller, and 2) used in the compensation loop, where the estimated overall uncertainty of the system is partially canceled from the original plant. This measurement noise rejection method, which is based on extending the plant model with an additional, integral state variable, allows user to choose higher gains of the observer in order to provide faster convergence of its estimates, without the danger of making the system less energy-effective (or even destabilizing it) due to noise amplification. Experiments, conducted on two laboratory testbeds, show that the considered technique gives satisfactory results in practical application."
This paper presents a practical verification of an Active Disturbance Rejection Control (ADRC) me... more This paper presents a practical verification of an Active Disturbance Rejection Control (ADRC) method in governing a multidimensional system. The experiments were conducted on a two degrees of freedom planar manipulator with only partial knowledge about the mathematical model of the plant. This multi input multi output system was controlled with a set of two, independent, single input single output ADRC controllers, each regulating one of the manipulator degree of freedom. Modeling uncertainty (nonlinearities, cross-coupling effects, etc.) and external disturbances were assumed to be a part of the disturbance, to be estimated with an observer and canceled on-line in the control loop. The ADRC robustness was experimentally compared with the results obtained from using two decentralized, classic PID controllers. Both control methods were tested under various conditions, e.g. changing the inertial parameters of the plant. Significantly better results, in terms of parametric robustness, have been reported for the ADRC approach.
This paper is focused on a comparison between Model–Free Control and Active Disturbance Rejection... more This paper is focused on a comparison between Model–Free Control and Active Disturbance Rejection Control methods. These two techniques do not require a detailed mathematical description of the system, since they base on the online estimation and rejection of the unmodeled elements of the dynamics. Robustness of the closed-loop control system (against external perturbation) and its relation to energy consumption is discussed here. A model of a planar manipulator is used in the conducted case study as an exemplary plant. Conclusions are supported with results obtained with numerical simulations.
Artykuł prezentuje zastosowanie metody sterowania odpornego Active Disturbance Rejection Control ... more Artykuł prezentuje zastosowanie metody sterowania odpornego Active Disturbance Rejection Control (ADRC) w układzie regulacji z modelem manipulatora robotycznego do zadań wspomagania rehabilitacji stawu kolanowego. Ze względu na wielowymiarowość badanego manipulatora oraz obecność w nim silnie nieliniowych, zmiennych w czasie oraz sprzężonych skrośnie elementów dynamiki, sterowanie rozważanym systemem jest zadaniem nietrywialnym. Niepewność modelowania może być jednak w technice ADRC na bieżąco odsprzęgana od systemu, zwiększając tym samym jego odporność parametryczną i zakłóceniową. W artykule przedstawiono wyniki eksperymentalne działania podejścia ADRC dla dwóch przypadków: treningu izometrycznego oraz izotonicznego. Otrzymane rezultaty pozwalają stwierdzić, że metoda ADRC stanowi interesującą alternatywę dla klasycznych technik sterowania stosowanych w manipulatorach rehabilitacyjnych.
Artykuł jest poświęcony weryfikacji jakości sterowania typu Active Disturbance Rejection Control ... more Artykuł jest poświęcony weryfikacji jakości sterowania typu Active Disturbance Rejection Control (ADRC) dla zadania regulacji pozycji dwuwirnikowego systemu aerodynamicznego (TRAS). Technika ADRC nie wymaga od użytkownika znajomości dokładnego modelu matematycznego rozważanego obiektu. Jej ideą jest redukcja wszystkich nieznanych lub trudnych do zamodelowania zjawisk w obiekcie do wypadkowego zaburzenia estymowanego i kompensowanego w zamkniętym układzie sterowania. Wykorzystany w pracy system laboratoryjny TRAS to nieliniowy, wielowejściowy-wielowyjściowy obiekt o dwóch stopniach swobody, z występującymi silnymi sprzężeniami skrośnymi. Otrzymane wyniki eksperymentalne pokazują przewagę metody ADRC nad klasycznym sterownikiem proporcjonalno-całkująco-rózniczkującym (PID) w kontekście odporności algorytmu na parametryczną i strukturalną niepewność modelu obiektu sterowania.
This paper presents an experimental comparison of various model-independent control strategies im... more This paper presents an experimental comparison of various model-independent control strategies implemented on a system with unbalanced rotating mass. Proportional-Integral-Derivative (PID), Robust Tracking with Control Vector Constraints (RTCVC), and Active Disturbance Rejection Control (ADRC) are considered in this research. Although these control algorithms deal with parametric uncertainties, external disturbances, and nonlinear behavior of the system with different approaches, their common feature is that they do not need an explicit mathematical model of the physical process. Obtained results show that the ADRC achieved highest control performance in terms of position trajectory tracking of the manipulator link and energy efficiency. This work also confirms that the ADRC is a promising model-free control approach, which brings together what is best in both classic and modern control theories.
This paper presents a robustness study of an Active Disturbance Rejection Control (ADRC) framewor... more This paper presents a robustness study of an Active Disturbance Rejection Control (ADRC) framework. An experimental verification is carried out on a Two Rotor Aerodynamical System (TRAS). The cross-couplings and highly nonlinear behavior of this complex system limit the performance of classical and linear controllers, widely-used in industrial practice. Additionally, the obtainment of a reliable mathematical model of TRAS is a challenging and tedious job. In ADRC, the unmeasured dynamics and external disturbance, associated with the 2-DOF motion of TRAS, are treated as an additional state variable. It is then estimated by a Nonlinear Extended State Observer (NESO) and compensated in the control signal. The obtained results showed the effectiveness of proposed ADRC-based controller in coping with dynamic and nonlinear variations, commonly seen in aerodynamical systems. It was noticed that due to disturbance estimation and its further cancellation a precise mathematical model of the plant is not required. The ADRC robustness was compared through experiment with other model-free method, i.e. the proportional-integral-derivative controller (PID). Better outcomes in terms of disturbance rejection have been reported for the ADRC approach.
This paper focuses on experimental verification of Active Disturbance Rejection Control (ADRC) on... more This paper focuses on experimental verification of Active Disturbance Rejection Control (ADRC) on a one-link flexible-joint manipulator. The complexity of the considered system limits the ease of modeling and thus the performance of model-based control methods. ADRC is proposed in this research as an alternative to these techniques. It uses a disturbance observer to actively compensate the effects of perturbations acting on the system. A set of experiments was conducted in order to examine the robustness of the proposed control framework. The results obtained show that the ADRC method managed to stay robust against nonlinear behavior of the flexible-joint system as well as its dynamics parameters variations.
In this paper an Active Disturbance Rejection Control (ADRC) scheme is used to solve a sag contro... more In this paper an Active Disturbance Rejection Control (ADRC) scheme is used to solve a sag control problem that has been noticed in tire production process. Constant length of the rubber sag is crucial in order to achieve high quality of tire reinforcement, which has its direct impact on driver safety. The ADRC method was compared in this research with other model-independent controller, i.e. Proportional-Integral-Derivative (PID), widely used in engineering practice. Both of the techniques were implemented and experimentally verified on a model of tire reinforcement production stage that can be described with a reel-to-reel system (R2R). The effect of various radius in the rubber winding phase makes the R2R a nonstationary dynamic plant. The ADRC approach resulted in better performance both energetically and for tracking a square trajectory, even with the presence of artificially added external disturbance. Additional perturbation imitated unpredictable and surprisingly often phenomena, which are results of incidents that happen in other stages of the manufacturing process. The acquired results have potential importance to the tire industry.
This survey presents various methods of improving the overall estimation quality in the class of ... more This survey presents various methods of improving the overall estimation quality in the class of extended state observers (ESO), which estimate not only the conventional states of the system, but the acting disturbance as well. This type of observers is crucial in forming the active disturbance rejection control structure (ADRC), where the precision of online perturbation reconstruction and cancellation directly influences the robustness of the closed-loop control system. Various aspects of the observer-based disturbance estimation/rejection loop are covered by this work and divided into three categories, related with observer: structure, tuning, and working conditions. The survey is dedicated to researchers and practitioners who are interested in increasing the efficiency of their ADRC-based governing schemes.
In this paper, a problem of verification under what conditions it is possible to reject disturban... more In this paper, a problem of verification under what conditions it is possible to reject disturbances in a control system with an active disturbance rejection control scheme (ADRC) is considered. The complexity of this problem varies with the structure of the disturbance acting on the system. The conducted study is based on investigating similarities between the ADRC methodology and the well-known results of classic control theory on feedback linearization and disturbance decoupling. The main result of the work is establishing (and initially proving) the ADRC-applicability conditions. Some numerical results are presented to further justify the claim.
The article proposes a method that gives the ability to consider the mathematical model of the sy... more The article proposes a method that gives the ability to consider the mathematical model of the system as a symmetry-preserving one, even if the conditions of the symmetry for the plant model are not met or if the symmetry was lost during the system operation. The proposed approach is based here on an active disturbance rejection scheme, which assumes an augmentation of the system model, which further leads to an online reconstruction and attenuation of the effects of terms in the plant, that preclude its model from being a symmetry-preserving one. The effectiveness of the proposed technique is presented in the paper using an illustrative example, supported with simulation results.
The work analyses the use of an active disturbance rejection control (ADRC) structure in a consta... more The work analyses the use of an active disturbance rejection control (ADRC) structure in a constant water pressure management system. The adaptability and robustness of the proposed control scheme significantly enhances the performance of a conventional PID-based output feedback control loop. The paper investigates the ADRC approach with a set of experiments conducted on a laboratory-scale model of a water supply system. The proposed approach is also compared with the results obtained for the sole conventional industrial PID controller.
Proc. of the International Conference on Control and Fault-Tolerant Systems, 2013
This paper analyses the robustness of the Model--Free Control (MFC) technique. The experimental t... more This paper analyses the robustness of the Model--Free Control (MFC) technique. The experimental tests are conducted on a 2DOF laboratory manipulator. The multidimensional, nonlinear, time-varying, cross-coupled, and mostly unknown dynamics of the considered system makes an effective control of such plant a highly demanding task. Obtained results are compared with the outcomes of a classical PID controller, widely used in industrial applications. The gathered experimental data makes the MFC a powerful fault-tolerant approach, that can eventually grow to a noticeable alternative to the controllers used in engineering practice nowadays.
In this paper, a technique of increasing the effectiveness of estimating the overall system uncer... more In this paper, a technique of increasing the effectiveness of estimating the overall system uncertainty with a class of high-gain disturbance observers is discussed. In theory, by introducing a particular set of additional, fictitious states to the system model, the considered observers can more effectively estimate wider variety of disturbances than in their classical forms. This work describes the verification of such theoretical statement also in practice. Both advantages and disadvantages of the proposed framework are pointed out in the paper using an Extended State Observer (ESO), that serves as an working example. An evaluation of the considered technique is carried out through a combination of numerical simulations and laboratory experiments.
Proc. of the Mediterranean Conference on Control and Automation, 2013
The paper analyses the potential use of a Nondominated Sorting Genetic Algorithm (NSGA-II) in fin... more The paper analyses the potential use of a Nondominated Sorting Genetic Algorithm (NSGA-II) in finding the parameters of an Extended State Observer (ESO). The ESO in the proposed framework is used as a part of a disturbance-rejection controller, which governs the horizontal position of a nonlinear cart-like system. The considered multicriteria optimization NSGA-II algorithm is introduced to automatically find a set of the observer design parameters that guarantee a desired (and predefined) behavior of the plant. The validity of the considered approach is verified with real experiments conducted on a laboratory testbed.
The article presents an application of a special case of an Active Disturbance Rejection Controll... more The article presents an application of a special case of an Active Disturbance Rejection Controller (ADRC) in governing a proper realization of basic limb rehabilitation trainings. The experimental study is performed on a model of a flexible joint manipulator, which behavior resembles a real robotic rehabilitation device. The multidimensional character of the considered assisting mechanism makes it a nontrivial modeling and control problem. However, by the use of the ADRC approach, the modeling uncertainty in the plant is partially decoupled from the system, which increases the robustness of the whole control framework against both internal and external disturbances.
The MPEG-7 standard is one of the first to address the issue of multimedia content with full atte... more The MPEG-7 standard is one of the first to address the issue of multimedia content with full attention. It aims to set up a standard framework for describing all aspects of items audiovisual data, including low-level descriptions of objects in an image (such as shape, texture, colour and motion). By choosing a particular set of MPEG-7 texture and colour descriptors and testing them both individually, and in various combinations, this paper proves that texture and colour descriptors binded together provide better results than when used separately. The experiments results show that Edge Histogram Descriptor mixed with combined Colour Layout Descriptor, Scalable Colour Descriptor256, and Colour Structure Descriptor and Edge Histogram Descriptor mixed with Scalable Colour Descriptor256 give most satisfying image retrieval effectiveness.
"In this paper, a measurement noise attenuation technique is applied to a state observer in order... more "In this paper, a measurement noise attenuation technique is applied to a state observer in order to decouple the noise from the estimated state variables. It is important to limit such interferences, since the estimates are: 1) used online to formulate the state feedback controller, and 2) used in the compensation loop, where the estimated overall uncertainty of the system is partially canceled from the original plant. This measurement noise rejection method, which is based on extending the plant model with an additional, integral state variable, allows user to choose higher gains of the observer in order to provide faster convergence of its estimates, without the danger of making the system less energy-effective (or even destabilizing it) due to noise amplification. Experiments, conducted on two laboratory testbeds, show that the considered technique gives satisfactory results in practical application."
This paper presents a practical verification of an Active Disturbance Rejection Control (ADRC) me... more This paper presents a practical verification of an Active Disturbance Rejection Control (ADRC) method in governing a multidimensional system. The experiments were conducted on a two degrees of freedom planar manipulator with only partial knowledge about the mathematical model of the plant. This multi input multi output system was controlled with a set of two, independent, single input single output ADRC controllers, each regulating one of the manipulator degree of freedom. Modeling uncertainty (nonlinearities, cross-coupling effects, etc.) and external disturbances were assumed to be a part of the disturbance, to be estimated with an observer and canceled on-line in the control loop. The ADRC robustness was experimentally compared with the results obtained from using two decentralized, classic PID controllers. Both control methods were tested under various conditions, e.g. changing the inertial parameters of the plant. Significantly better results, in terms of parametric robustness, have been reported for the ADRC approach.
This paper is focused on a comparison between Model–Free Control and Active Disturbance Rejection... more This paper is focused on a comparison between Model–Free Control and Active Disturbance Rejection Control methods. These two techniques do not require a detailed mathematical description of the system, since they base on the online estimation and rejection of the unmodeled elements of the dynamics. Robustness of the closed-loop control system (against external perturbation) and its relation to energy consumption is discussed here. A model of a planar manipulator is used in the conducted case study as an exemplary plant. Conclusions are supported with results obtained with numerical simulations.
Artykuł prezentuje zastosowanie metody sterowania odpornego Active Disturbance Rejection Control ... more Artykuł prezentuje zastosowanie metody sterowania odpornego Active Disturbance Rejection Control (ADRC) w układzie regulacji z modelem manipulatora robotycznego do zadań wspomagania rehabilitacji stawu kolanowego. Ze względu na wielowymiarowość badanego manipulatora oraz obecność w nim silnie nieliniowych, zmiennych w czasie oraz sprzężonych skrośnie elementów dynamiki, sterowanie rozważanym systemem jest zadaniem nietrywialnym. Niepewność modelowania może być jednak w technice ADRC na bieżąco odsprzęgana od systemu, zwiększając tym samym jego odporność parametryczną i zakłóceniową. W artykule przedstawiono wyniki eksperymentalne działania podejścia ADRC dla dwóch przypadków: treningu izometrycznego oraz izotonicznego. Otrzymane rezultaty pozwalają stwierdzić, że metoda ADRC stanowi interesującą alternatywę dla klasycznych technik sterowania stosowanych w manipulatorach rehabilitacyjnych.
Artykuł jest poświęcony weryfikacji jakości sterowania typu Active Disturbance Rejection Control ... more Artykuł jest poświęcony weryfikacji jakości sterowania typu Active Disturbance Rejection Control (ADRC) dla zadania regulacji pozycji dwuwirnikowego systemu aerodynamicznego (TRAS). Technika ADRC nie wymaga od użytkownika znajomości dokładnego modelu matematycznego rozważanego obiektu. Jej ideą jest redukcja wszystkich nieznanych lub trudnych do zamodelowania zjawisk w obiekcie do wypadkowego zaburzenia estymowanego i kompensowanego w zamkniętym układzie sterowania. Wykorzystany w pracy system laboratoryjny TRAS to nieliniowy, wielowejściowy-wielowyjściowy obiekt o dwóch stopniach swobody, z występującymi silnymi sprzężeniami skrośnymi. Otrzymane wyniki eksperymentalne pokazują przewagę metody ADRC nad klasycznym sterownikiem proporcjonalno-całkująco-rózniczkującym (PID) w kontekście odporności algorytmu na parametryczną i strukturalną niepewność modelu obiektu sterowania.
This paper presents an experimental comparison of various model-independent control strategies im... more This paper presents an experimental comparison of various model-independent control strategies implemented on a system with unbalanced rotating mass. Proportional-Integral-Derivative (PID), Robust Tracking with Control Vector Constraints (RTCVC), and Active Disturbance Rejection Control (ADRC) are considered in this research. Although these control algorithms deal with parametric uncertainties, external disturbances, and nonlinear behavior of the system with different approaches, their common feature is that they do not need an explicit mathematical model of the physical process. Obtained results show that the ADRC achieved highest control performance in terms of position trajectory tracking of the manipulator link and energy efficiency. This work also confirms that the ADRC is a promising model-free control approach, which brings together what is best in both classic and modern control theories.
This paper presents a robustness study of an Active Disturbance Rejection Control (ADRC) framewor... more This paper presents a robustness study of an Active Disturbance Rejection Control (ADRC) framework. An experimental verification is carried out on a Two Rotor Aerodynamical System (TRAS). The cross-couplings and highly nonlinear behavior of this complex system limit the performance of classical and linear controllers, widely-used in industrial practice. Additionally, the obtainment of a reliable mathematical model of TRAS is a challenging and tedious job. In ADRC, the unmeasured dynamics and external disturbance, associated with the 2-DOF motion of TRAS, are treated as an additional state variable. It is then estimated by a Nonlinear Extended State Observer (NESO) and compensated in the control signal. The obtained results showed the effectiveness of proposed ADRC-based controller in coping with dynamic and nonlinear variations, commonly seen in aerodynamical systems. It was noticed that due to disturbance estimation and its further cancellation a precise mathematical model of the plant is not required. The ADRC robustness was compared through experiment with other model-free method, i.e. the proportional-integral-derivative controller (PID). Better outcomes in terms of disturbance rejection have been reported for the ADRC approach.
This paper focuses on experimental verification of Active Disturbance Rejection Control (ADRC) on... more This paper focuses on experimental verification of Active Disturbance Rejection Control (ADRC) on a one-link flexible-joint manipulator. The complexity of the considered system limits the ease of modeling and thus the performance of model-based control methods. ADRC is proposed in this research as an alternative to these techniques. It uses a disturbance observer to actively compensate the effects of perturbations acting on the system. A set of experiments was conducted in order to examine the robustness of the proposed control framework. The results obtained show that the ADRC method managed to stay robust against nonlinear behavior of the flexible-joint system as well as its dynamics parameters variations.
In this paper an Active Disturbance Rejection Control (ADRC) scheme is used to solve a sag contro... more In this paper an Active Disturbance Rejection Control (ADRC) scheme is used to solve a sag control problem that has been noticed in tire production process. Constant length of the rubber sag is crucial in order to achieve high quality of tire reinforcement, which has its direct impact on driver safety. The ADRC method was compared in this research with other model-independent controller, i.e. Proportional-Integral-Derivative (PID), widely used in engineering practice. Both of the techniques were implemented and experimentally verified on a model of tire reinforcement production stage that can be described with a reel-to-reel system (R2R). The effect of various radius in the rubber winding phase makes the R2R a nonstationary dynamic plant. The ADRC approach resulted in better performance both energetically and for tracking a square trajectory, even with the presence of artificially added external disturbance. Additional perturbation imitated unpredictable and surprisingly often phenomena, which are results of incidents that happen in other stages of the manufacturing process. The acquired results have potential importance to the tire industry.
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Papers by Rafal Madonski
o dwóch stopniach swobody, z występującymi silnymi sprzężeniami skrośnymi. Otrzymane wyniki eksperymentalne pokazują przewagę metody ADRC nad klasycznym sterownikiem proporcjonalno-całkująco-rózniczkującym (PID) w kontekście odporności algorytmu na parametryczną i strukturalną niepewność modelu obiektu sterowania.
o dwóch stopniach swobody, z występującymi silnymi sprzężeniami skrośnymi. Otrzymane wyniki eksperymentalne pokazują przewagę metody ADRC nad klasycznym sterownikiem proporcjonalno-całkująco-rózniczkującym (PID) w kontekście odporności algorytmu na parametryczną i strukturalną niepewność modelu obiektu sterowania.