A learning algorithm for parameters of automatic disturbances rejection controller

作者：Wu Lei^*; Bao Hong; Du Jing Li; Wang Cong Si

来源：Acta Automatica Sinica, 2014, 40(3): 556-560.

DOI：10.3724/SP.J.1004.2014.00556

• Automatic disturbance rejection controller (ADRC)
• Control parameters
• Control performance
• Controller parameter
• Industrial mechatronic drives unit (IMDU)
• Interval probability
• Optimal controls
• Probability densities

Considering the special characteristics of the automatic disturbance rejection controller (ADRC), with emphasis on the parameters and strong coupling among them, an algorithm is presented in this paper for tuning the parameters of the ADRC automatically. Aiming at the minimization of the control performance function, the algorithm learns an optimal set of controller parameter values of the ADRC by cost function, updating each parameter of the controller within a bounded interval probability density distribution constantly and making the probability density of the optimal control parameter maximum. The algorithm is applied to an open-loop unstable system and the industrial mechatronic drives unit (IMDU), the results of simulation and experiment show its validity.

• 出版日期2014
• 单位西安电子科技大学