Open AccessACTIVE DISTURBANCE REJECTION CONTROL TUNING EMPLOYING THE LQR APPROACH FOR DECOUPLING UNCERTAIN MULTIVARIABLE SYSTEMS
Author(s) -
Pedro Teppa-Garran,
Gaëtan Garcia
Publication year - 2014
Publication title -
latin american applied research
Language(s) - English
Resource type - Journals
eISSN - 1851-8796
pISSN - 0327-0793
DOI - 10.52292/j.laar.2014.466
Subject(s) - control theory (sociology) , decoupling (probability) , multivariable calculus , mimo , full state feedback , linear quadratic regulator , computer science , control engineering , control (management) , engineering , channel (broadcasting) , computer network , artificial intelligence
The ADRC tuning is essentially a pole-placement technique and the desired performance is indirectly achieved through the location of the closed-loop poles. However, the final choice of these poles becomes a trial-and-error strategy. In contrast with pole-placement, in the LQR method, the desired performance objectives are directly and globally addressed by minimizing a quadratic function of the state and control input. ADRC tuning employing the LQR approach is then applied for decoupling uncertain MIMO systems. This is done by considering all the coupling and interference interactions between the channels of the system as disturbances, using an ESO to estimate them in real time and then canceling its effect employing the estimate as part of the control signal.