On asymptotic stability for nonlinear ADRC based control system with application to the ball-beam problem

Jie Li; Xiaohui Qi; Yuanqing Xia; Zhiqiang Gao

doi:10.1109/ACC.2016.7526100

On asymptotic stability for nonlinear ADRC based control system with application to the ball-beam problem

Jie Li
, Xiaohui Qi
, Yuanqing Xia
, Zhiqiang Gao

Shijiazhuang Mechanical Engineering College
Beijing Institute of Technology
Cleveland State University
Tianjin University of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

31 Citations (Scopus)

Abstract

Active disturbance rejection control (ADRC) is a relatively new but very practical technology, which shows much promise in replacing PID as industry workhorse with unmistakable advantage in performance and practicality. This paper mainly concerns with a problem of fundamental nature: the asymptotic stability of nonlinear ADRC based control system, and applies ADRC to the ball-beam system to check the presented methods and the performance of ADRC. Firstly, the general nonlinear ADRC algorithm is introduced; then the asymptotical stability problem is transformed into that of determining whether a matrix or interval matrix is Hurwitz; finally the results of theoretical analysis are verified in simulations and experiments using the ball-beam platform, demonstrating the convenience and effectiveness of the proposed methods, in addition to the good performance of ADRC.

Original language	English
Title of host publication	2016 American Control Conference, ACC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4725-4730
Number of pages	6
ISBN (Electronic)	9781467386821
DOIs	https://doi.org/10.1109/ACC.2016.7526100
Publication status	Published - 28 Jul 2016
Externally published	Yes
Event	2016 American Control Conference, ACC 2016 - Boston, United States Duration: 6 Jul 2016 → 8 Jul 2016

Publication series

Name	Proceedings of the American Control Conference
Volume	2016-July
ISSN (Print)	0743-1619

Conference

Conference	2016 American Control Conference, ACC 2016
Country/Territory	United States
City	Boston
Period	6/07/16 → 8/07/16

Access to Document

10.1109/ACC.2016.7526100

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Li, J., Qi, X., Xia, Y., & Gao, Z. (2016). On asymptotic stability for nonlinear ADRC based control system with application to the ball-beam problem. In 2016 American Control Conference, ACC 2016 (pp. 4725-4730). Article 7526100 (Proceedings of the American Control Conference; Vol. 2016-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2016.7526100

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title = "On asymptotic stability for nonlinear ADRC based control system with application to the ball-beam problem",

abstract = "Active disturbance rejection control (ADRC) is a relatively new but very practical technology, which shows much promise in replacing PID as industry workhorse with unmistakable advantage in performance and practicality. This paper mainly concerns with a problem of fundamental nature: the asymptotic stability of nonlinear ADRC based control system, and applies ADRC to the ball-beam system to check the presented methods and the performance of ADRC. Firstly, the general nonlinear ADRC algorithm is introduced; then the asymptotical stability problem is transformed into that of determining whether a matrix or interval matrix is Hurwitz; finally the results of theoretical analysis are verified in simulations and experiments using the ball-beam platform, demonstrating the convenience and effectiveness of the proposed methods, in addition to the good performance of ADRC.",

author = "Jie Li and Xiaohui Qi and Yuanqing Xia and Zhiqiang Gao",

note = "Publisher Copyright: {\textcopyright} 2016 American Automatic Control Council (AACC).; 2016 American Control Conference, ACC 2016 ; Conference date: 06-07-2016 Through 08-07-2016",

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doi = "10.1109/ACC.2016.7526100",

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Li, J, Qi, X, Xia, Y & Gao, Z 2016, On asymptotic stability for nonlinear ADRC based control system with application to the ball-beam problem. in 2016 American Control Conference, ACC 2016., 7526100, Proceedings of the American Control Conference, vol. 2016-July, Institute of Electrical and Electronics Engineers Inc., pp. 4725-4730, 2016 American Control Conference, ACC 2016, Boston, United States, 6/07/16. https://doi.org/10.1109/ACC.2016.7526100

On asymptotic stability for nonlinear ADRC based control system with application to the ball-beam problem. / Li, Jie; Qi, Xiaohui; Xia, Yuanqing et al.
2016 American Control Conference, ACC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 4725-4730 7526100 (Proceedings of the American Control Conference; Vol. 2016-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - On asymptotic stability for nonlinear ADRC based control system with application to the ball-beam problem

AU - Li, Jie

AU - Qi, Xiaohui

AU - Xia, Yuanqing

AU - Gao, Zhiqiang

PY - 2016/7/28

Y1 - 2016/7/28

N2 - Active disturbance rejection control (ADRC) is a relatively new but very practical technology, which shows much promise in replacing PID as industry workhorse with unmistakable advantage in performance and practicality. This paper mainly concerns with a problem of fundamental nature: the asymptotic stability of nonlinear ADRC based control system, and applies ADRC to the ball-beam system to check the presented methods and the performance of ADRC. Firstly, the general nonlinear ADRC algorithm is introduced; then the asymptotical stability problem is transformed into that of determining whether a matrix or interval matrix is Hurwitz; finally the results of theoretical analysis are verified in simulations and experiments using the ball-beam platform, demonstrating the convenience and effectiveness of the proposed methods, in addition to the good performance of ADRC.

AB - Active disturbance rejection control (ADRC) is a relatively new but very practical technology, which shows much promise in replacing PID as industry workhorse with unmistakable advantage in performance and practicality. This paper mainly concerns with a problem of fundamental nature: the asymptotic stability of nonlinear ADRC based control system, and applies ADRC to the ball-beam system to check the presented methods and the performance of ADRC. Firstly, the general nonlinear ADRC algorithm is introduced; then the asymptotical stability problem is transformed into that of determining whether a matrix or interval matrix is Hurwitz; finally the results of theoretical analysis are verified in simulations and experiments using the ball-beam platform, demonstrating the convenience and effectiveness of the proposed methods, in addition to the good performance of ADRC.

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M3 - Conference contribution

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BT - 2016 American Control Conference, ACC 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 American Control Conference, ACC 2016

Y2 - 6 July 2016 through 8 July 2016

ER -

On asymptotic stability for nonlinear ADRC based control system with application to the ball-beam problem

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