On-line Adaptive Scaling Parameter in Active Disturbance Rejection Controller

Active Disturbance Rejection Controller (ADRC) is considered one of the most famous model free controllers in the industry. This introduced scheme of control, do not require the exact modeling of the system equations and used to reject online any types of perturbations. However, the drawback of this tool is the hard task of tuning multi-parameters and takes a long time to achieve performances requirements. In this contribution, an optimization of a scaling parameter which has an important effect in the dynamic behavior of controlled system. There has been some research concentrate in estimate the parameters uncertainties from input and output signals of the body mass in vehicle system. This kind of estimation is based on differential algebra which is known by its simplicity of implementation, fast and robust to noise marring any measured signals. Furthermore, the combination of this algebraic methodology with aforementioned control low is easy. For the purpose of improving the effectiveness of ADRC controller, this paper use to predict this unknown variation and it was incorporated in the equation of control. Using this time varying parameter instead of an empirical one, simulations results show an amelioration of the energy consumption and an increase of the ride comfort.