Active Disturbance Rejection Control the intuitive way part 1
Автор: PIREngineering
Загружено: 2024-11-26
Просмотров: 4219
#ADRC #controltheory
Active Disturbance Rejection Control is gaining popularity in the industry, but it is not easy to find simple and intuitive explanation how it actually works. This video is first in a short series aiming at filling this knowledge gap. We'll talk about general idea, building blocks of ADRC and show how it works in simulation.
0:00 Idea behind ADRC.
2:40 Extended State Observer.
5:08 Simulation of ESO.
10:45 Controller Design.
12:53 Simulation with added controller.
16:30 Tracking differentiator.
19:48 Simulating the whole ADRC setup.
23:47 Summary. What's coming in the next video.
If you want to support my work, you can buy me a coffee https://buymeacoffee.com/pirengineering
All simulations are done in Julia programming language using Pluto.jl and ModelingToolkit.jl
Additional reading:
Sira-Ramirez, H., Luviano-Juárez, A., Ramírez-Neria, M., Zurita-Bustamante, E. W. (2017). Active Disturbance Rejection Control of Dynamic Systems: A Flatness Based Approach.
Guo, B., Zhao, Z. (2016). Active Disturbance Rejection Control for Nonlinear Systems: An Introduction.
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