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Robotics Control Using Active Disturbance Rejection Control, Ousama Said Khairallah
Robotics Control Using Active Disturbance Rejection Control, Ousama Said Khairallah
ETD Archive
Conventional robotics control has been set in stone since the sixties. The world has been waiting too long for a new age of control to change the world of Robotics. Active Disturbance Rejection Control (ADRC) is a newly reformed Control methodology. It has been used, in very limited applications, as a replacement for PID control. In this thesis, I will cover the different aspects of the kinematics and dynamics of a robotic manipulator. I will also examine the feasibility of using ADRC to control a robotic manipulator. To explain ADRC, a simple example that demonstrates the concepts and theory of …
Load Frequency Control Of Multiple-Area Power Systems, Yao Zhang
Load Frequency Control Of Multiple-Area Power Systems, Yao Zhang
ETD Archive
In an interconnected power system, as a power load demand varies randomly, both area frequency and tie-line power interchange also vary. The objectives of load frequency control (LFC) are to minimize the transient deviations in theses variables (area frequency and tie-line power interchange) and to ensure their steady state errors to be zeros. When dealing with the LFC problem of power systems, unexpected external disturbances, parameter uncertainties and the model uncertainties of the power system pose big challenges for controller design. Active disturbance rejection control (ADRC), as an increasingly popular practical control technique, has the advantages of requiring little information …