ACTIVE DISTURBANCE REJECTION CONTROL AND MODEL-FREE CONTROL TUNED VIA FICTITIOUS REFERENCE ITERATIVE TUNING

Raul-Cristian Roman, Radu-Emil Precup, Emil M. Petriu

DOI Number
10.22190/FUME250520021R
First page
Last page

Abstract


This paper presents a comparative analysis of two data-driven algorithm combinations: the first-order Active Disturbance Rejection Control-Fictitious Reference Iterative Tuning (ADRC-FRIT) and the first-order Model-Free Control-Fictitious Reference Iterative Tuning (MFC-FRIT). The objective of both data-driven combinations is to ascertain the tunable parameters through the resolution of an optimization problem and to streamline the heuristic procedures involved. The data-driven algorithms are empirically validated through experimental trials utilizing the 3D laboratory equipment in which the x-, y-, and z-axes are controlled.

Keywords

Active Disturbance Rejection Control, Model-Free Control, Fictitious Reference Iterative Control, 3D Crane

Full Text:

PDF

References


Precup, R.-E., Roman, R.-C., Safaei, A., 2021, Data-Driven Model-Free Controllers, 1st Edition, CRC Press, Taylor & Francis, Boca Raton, FL, USA.

Milić, P., Marinković, D., Klinge, S., Ćojbašić, Ž., 2023, Reissner-Mindlin based isogeometric finite element formulation for piezoelectric active laminated shells, Tehnički Vjesnik, 30(2), pp. 416-425.

Z. Gao, 2006, Active disturbance rejection control: a paradigm shift in feedback control system design, Proc. 2006 American Control Conference, Minneapolis, MN, USA, pp. 2399–2405.

Roman, R.-C., Precup, R.-E., Petriu, E. M., 2021, Hybrid data-driven fuzzy active disturbance rejection control for tower crane systems, European Journal of Control, 58, pp. 373-387.

Fliess, M., Join, C., 2013, Model-free control, International Journal of Control, 86(12), pp. 2228–2252.

Roman, R.-C., Precup, R.-E., Petriu, E. M., Muntyan, M., 2023, Fictitious reference iterative tuning of discrete-time model-free control for tower crane systems, Studies in Informatics and Control, 32(1), pp. 5-14.

Liu, S., Lin, G., Ji, H., Jin, S., Hou, Z., 2025, A novel enhanced data-driven model-free adaptive control scheme for path tracking of autonomous vehicles, IEEE Transactions on Intelligent Transportation Systems, 26(1), pp. 579-590.

Formentin, S., Campi, M. C., Carè, A., Savaresi, S. M., 2019, Deterministic continuous-time virtual reference feedback tuning (VRFT) with application to PID design, Systems & Control Letters, 127, pp. 25-34.

Hjalmarsson, H., 2002, Iterative feedback tuning, International Journal of Adaptive Control and Signal Processing, 16(5), pp. 373-395.

Soma, S., Kaneko, O., Fujii, 2004, A new method of controller parameter tuning based on input-output data – Fictitious Reference Iterative Tuning (FRIT), IFAC Proceedings Volumes 37(12), pp. 798-794.

Bristow, D.A., Tharayil, M., Alleyne, A.G., 2006, A survey of iterative learning control, IEEE Control Systems Magazine, 26(3), pp. 96-114.

Precup, R.-E., Roman, R.-C., Hedrea, E.-L., Petriu, E. M., Bojan-Dragos, C.-A., Szedlak-Stinean, A.-I., 2024, Metaheuristic-based tuning of proportional-derivative learning rules for proportional-integral fuzzy controllers in tower crane system payload position control, Facta Universitatis-Series Mechanical Engineering, 22(4), pp. 567-582.

Roman, R.-C., Precup, R.-E., Petriu, E. M., Borlea, A.-I., 2024, Hybrid data-driven active disturbance rejection sliding mode control with tower crane systems validation, Romanian Journal of Information Science and Technology, 27(1), pp. 3-17.

Roman, R.-C., Precup, R.-E., Stebel, K., Madonski, R., 2025, Active disturbance rejection control tuned by fictitious reference iterative tuning for tower crane systems, Proc. 23rd European Control Conference (ECC), Thessaloniki, Greece, pp. 1-8.

Roman, R.-C., Precup, R.-E., Petriu, E. M., 2024, Active disturbance rejection control for 3D crane systems, Procedia Computer Science, 242, pp. 976-983.

Madonski, R., Shao, S., Zhang, H., Gao, Z., Yang, J., Li, S., 2019, General error-based active disturbance rejection control for swift industrial implementations, Control Engineering Practice, 84, pp. 218-229.

Cao, M., Yang, J., Li, S., Madonski, R., Xue, W., 2025, Cascaded filter PID paradigm for error-based active disturbance rejection control: equivalence, design, and implementation guidelines, IEEE Transactions on Industrial Electronics, doi: 10.1109/TIE.2025.3559950, pp. 1-11.

Sun, X. G., Chi, W. C., Wang, Y. Q., 2024, Linear active disturbance rejection control algorithm for active vibration control of piezo-actuated beams: Theoretical and experimental studies, Thin-Walled Structures, 199, paper 111782.

Ahi, B., Nobakhti, A., 2018, Hardware implementation of an ADRC controller on a gimbal mechanism, IEEE Transactions on Control Systems Technology, 26(6), pp. 2268-2275.

Ahi, B., Haeri, M., 2018, Linear active disturbance rejection control from the practical aspects, IEEE/ASME Transactions on Mechatronics, 23(6), pp. 2909–2919.

Fliess, M., Join, C., 2012, An alternative to proportional‐integral and proportional‐integral‐derivative regulators: Intelligent proportional‐derivative regulators, International Journal of Robust and Nonlinear Control, 32(18), pp. 9512–9524.

Join, C., Jovellar, D. B., Delaleau, E., Fliess, M., 2024, Detection and suppression of epileptiform seizures via model-free control and derivatives in a noisy environment, Proc. IEEE 12th International Conference on Systems and Control, Batna, Algeria, pp. 1-6.

Guilloteau, Q., Robu, B., Join, C., Fliess, M., Rutten, E., Richard, O., 2022, Model-free control for resource harvesting in computing grids, Proc. 2022 6th IEEE Conference on Control Technology and Applications, Trieste, Italy, pp. 1-7.

Gedouin, P.-A., Delaleau, E., Bourgeot, J.-M., Join, C., Chirani, S. A., Calloch, S., 2011, Experimental comparison of classical PID and model-free control: Position control of a shape memory alloy active spring, Control Engineering Practice, 19(5), pp. 433-441.

He, D., Wang, H., Tian, Y., Fliess, M., 2025, MIMO ultra-local model-based adaptive enhanced model-free control using extremum-seeking for coupled mechatronic systems, ISA Transactions, 157, pp. 233-247.

Degorre, L., Delaleau, E., Join, C., Fliess, M., 2025, A novel approach to guidance and control of USVs combining flatness-based and model-free controllers, Proc. 9th IFAC Symposium on System Structure and Control (SSSC 2025), Gif-sur-Yvette, France, pp. 1-6.

Precup, R.-E., Roman, R.-C., Teban, T.-A., Albu, A., Petriu, E. M., Pozna, C., 2020, Model-free control of finger dynamics in prosthetic hand myoelectric-based control systems, Studies in Informatics and Control, 29(4), pp. 399-410.

Roman, R.-C., Precup, R.-E., David, R.-C., 2018, Second order intelligent proportional-integral fuzzy control of twin rotor aerodynamic systems, Procedia Computer Science, 139, pp. 372-380.

Sekine, M., Tsuruhara, S., ITO, K., 2025, Optimized design of a pseudo-linearization-based model predictive controller: Direct data-driven approach, IET Control Theory & Applications, 19(1), pp. 1-17.

Li, Z., Hiraoka, K., Yamamoto, T., 2024, Design and experimental evaluation of a data-driven PID controller using cerebellar memory, IET Control Theory & Applications, 18(11), pp. 1371-1382.

Yonezawa, A., Yonezawa, H., Yahagi, D., Kajiwara, I., 2024, Practical one-shot data-driven design of fractional-order PID controller: Fictitious reference signal approach, ISA Transactions, 152, pp. 208-216.

Kaneko, O., Soma, S., Fujii, T., 2005, A Fictitious Reference Iterative Tuning (FRIT) in the two-degree of freedom control scheme and its application to closed loop system identification, IFAC Proceedings Volumes, 38(1), pp. 626-631.

Ikeda, H., Goto, K., Zhang, F., Kayashima, K., Hanamoto, T., 2018, Application of fictitious reference iterative tuning to controller design for various machines, Proc. 2018 International Power Electronics Conference, Niigata, Japan, pp. 1315-1321.

Roman, R.-C., Precup, R.-E., Petriu, E. M., Muntyan, M., Hedrea, E.-L., 2023, Fictitious reference iterative tuning of intelligent proportional-integral controllers for tower crane systems, Proc. 2023 31st Mediterranean Conference on Control and Automation, Limassol, Cyprus, pp. 740-746.

Roman, R.-C., Precup, R.-E., Hedrea, E.-L., 2023, Intelligent proportional controller tuned by virtual reference feedback tuning and fictitious reference iterative tuning, Procedia Computer Science 221, pp. 86-93.

Inteco, 2012, 3D Crane, User’s Manual, Inteco Ltd., Krakow, Poland.

Kilic, U., Sarac Essiz, E., Kaya Keles, M., 2023, Binary anarchic society optimization for feature selection, Romanian Journal of Information Science and Technology, 26(3-4), pp. 351-364.

Lu, Z.-L., Lok, U. H., 2024, Dimension-reduced modeling for local volatility surface via unsupervised learning, Romanian Journal of Information Science and Technology, 27(3-4), pp. 255-266.

Pho, K.-H., 2022, Improvements of the Newton-Raphson method, Journal of Computational and Applied Mathematics, 408, paper 114106.

Roman, R.-C., Precup, R.-E., Stebel, K., Madonski, R., 2024, Supplementary material of the paper Raul-Cristian Roman, Radu-Emil Precup, Krzysztof Stebel, Rafal Madonski, Active Disturbance Rejection Control Tuned by Fictitious Reference Iterative Tuning for Tower Crane Systems, the 23rd European Control Conference (ECC), [Online], Available: https://uptro29158-my.sharepoint.com/:f:/g/personal/raul-cristian_roman_upt_ro/EljHGKk30Z1Alwd0r0rNNp8BTMpi742jM4v8s9MPgdBz2g?e=9rOXjd (last access: 31.10.2024).

Fliess, M., Join, C., 2014, Stability margins and model-free control: A first look, Proc. 2014 European Control Conference, Strasbourg, France, pp. 454-459.

Roman, R.-C., Precup, R.-E., Petriu, E. M., Supplementary appendix of the paper Active Disturbance Rejection Control and Model-Free Control Tuned via Fictitious Reference Iterative Tuning, [Online]. Available: https://uptro29158-my.sharepoint.com/:f:/g/personal/raul-cristian_roman_upt_ro/EidruGdukWlGtba5YbQ0IqgBqAno8M91gUXs8t1FrqW8lA?e=ygQXw4 (last access 31.05.2025).

Ćojbašić, Ž. M., Nikolić, V. D., Ćirić, I. T., Ćojbašić, L. R., 2011, Computationally intelligent modeling and control of fluidized bed combustion process, Thermal Science, 15(2), pp. 321-338.

Borlea, A.-I., Precup, R.-E., Roman, R.-C., 2023, Discrete-time model-based sliding mode controllers for tower crane systems, Facta Universitatis-Series Mechanical Engineering, 21(1), pp. 1-20.

Guvenc, M. A., Bilgic, H. H., Mistikoglu S., 2023, Identification of chatter vibrations and active vibration control by using the sliding mode controller on dry turning of titanium alloy (TI6AL4V), Facta Universitatis-Series Mechanical Engineering, 21(2), pp. 307-322.


Refbacks

  • There are currently no refbacks.


ISSN: 0354-2025 (Print)

ISSN: 2335-0164 (Online)

COBISS.SR-ID 98732551

ZDB-ID: 2766459-4