Time-Delay Estimation Improves Active Disturbance Rejection Control for Time-Delay Nonlinear Systems
Open accessAbstract
Lately, active disturbance rejection control (ADRC), a model-independent controller, has become popular for combating various forms of uncertain disturbances incurred in industrial applications. ADRC was validated for external disturbances, internal disturbances, and nonlinearities incurred under realistic scenarios. Time delay challenges all controllers, especially when it coexists with nonlinearities. This paper investigates the impacts of time delay and backlash-like hysteresis nonlinearity in ADRC-controlled systems. These impacts are analyzed, as in the case study, in two ADRC-based methods, namely the ADRC with delayed input method and the predictive extended state observer (PESO)-based ADRC (PESO-ADRC) method. To improve the system response and to attain a decent attenuation of uncertainties, the time-delay estimation (TDE) mechanism is introduced to the concerned ADRC-based methods. Experimental studies are conducted to verify the effectiveness and stability of the proposed TDE-ADRC methods. The results demonstrate the robustness and decent recovery of the transient response after the adverse impact of the backlash-like hysteresis on both concerned ADRC-controlled systems.
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ADRC is one of the most widely employed model-free controllers, whose model is updated continually to perform disturbance compensation in time-delay control.
“In the literature, one of the most widely employed model-free controllers is an active disturbance rejection control (ADRC), whose model is updated continually to perform disturbance compensation in time-delay control [7,8].”
From A comparative study on time-delay estimation for time-delay nonlinear system control (2025) · cites this paper as [8]
The performance of an ADRC controller concerning estimation and attenuation of nonlinear backlash-like hysteresis under time delay and uncertainties is greatly improved in conjunction with TDE mechanisms.
“Moreover, recent research has shown that the performance of an ADRC controller concerning estimation and attenuation of nonlinear backlash-like hysteresis under time delay and uncertainties is greatly improved in conjunction with TDE mechanisms [8,17].”
From A comparative study on time-delay estimation for time-delay nonlinear system control (2025) · cites this paper as [8]
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A comparative study on time-delay estimation for time-delay nonlinear system control
Nahri, S. N. F., Department of Electrical Engineering, F. O. E. A. T. B. E., Du, S., van Wyk, B. J., & Ajayi, O. K. (2025) · AIMS Electronics and Electrical Engineering · doi:10.3934/electreng.2025015 · Cited by 3 · see citing works
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Self-citation
- Authors
- Nahri, S. N. F., Du, S., van Wyk, B. J., & Nyasulu, T. D.
- Affiliations
- Tshwane University of Technology (ZA)
- Department of Electrical Engineering, Faculty of Engineering and the Built Environment, Tshwane University of Technology, Pretoria 0001, South Africa
- Corresponding author
- Du, Shengzhi
- Venue
- Machines
- Publisher
- MDPI AG
- Published
- 2024-08-13
- Volume
- 12
- Issue
- 8
- Pages
- 552
- ISSN
- 2075-1702 (ISSN-L)
- OpenAlex
- W4401558515
- Cited by
- 7
- References
- 34
- Citations by year
- 2026: 1 · 2025: 6
- FWCI
- 1.10
- Type
- journal article
- Language
- en
- Open access
- gold
- doi.org
- Licence
- Locations
- Machines (publishedVersion, cc-by)
- DOAJ (DOAJ: Directory of Open Access Journals) (submittedVersion, cc-by-sa)
- Funders
- National Research Foundation of South Africa (PSTD2204143453, SRUG2203291049)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Advanced Control Systems Design
- Keywords
- active disturbance rejection control, time delay estimation, nonlinear time-delay systems, backlash-like hysteresis, disturbance rejection, robustness to uncertainty
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