From 1cad84dfa42b34d64dc325a3b11bfc7902c3c8db Mon Sep 17 00:00:00 2001
From: Divyansh Agrawal <your.email@example.com>
Date: Mon, 31 Mar 2025 21:39:15 +0530
Subject: [PATCH 01/11] Added the Active Disturbance Rejection Control (ADRC)
Algorithm
---
control_algorithms/adrc.py | 64 ++++++++++++++++++++++++++++++++++++++
1 file changed, 64 insertions(+)
create mode 100644 control_algorithms/adrc.py
diff --git a/control_algorithms/adrc.py b/control_algorithms/adrc.py
new file mode 100644
index 000000000000..3ef4dbd73960
--- /dev/null
+++ b/control_algorithms/adrc.py
@@ -0,0 +1,64 @@
+"""
+Active Disturbance Rejection Control (ADRC) is a robust control strategy
+that estimates and compensates for disturbances in real-time without needing
+an explicit mathematical model of the system.
+
+It consists of:
+1. Tracking Differentiator (TD) - Smooths the reference signal
+2. Extended State Observer (ESO) - Estimates system states and disturbances
+3. Nonlinear State Error Feedback (NLSEF) - Generates the control signal
+
+Refer - https://en.wikipedia.org/wiki/Active_disturbance_rejection_control
+"""
+
+
+class ADRC:
+ def __init__(self, beta1: float, beta2: float, beta3: float, setpoint: float = 0.0):
+ """
+ Initialize the ADRC controller.
+
+ :param beta1: Gain for error correction in ESO
+ :param beta2: Gain for disturbance estimation in ESO
+ :param beta3: Gain for acceleration estimation in ESO
+ :param setpoint: Desired target value
+ """
+ self.beta1 = beta1
+ self.beta2 = beta2
+ self.beta3 = beta3
+ self.setpoint = setpoint
+
+ self.z1 = 0.0 # Estimated system output
+ self.z2 = 0.0 # Estimated system velocity
+ self.z3 = 0.0 # Estimated total disturbance
+
+ def compute(self, measured_value: float, dt: float) -> float:
+ """
+ Compute the control signal based on error estimation and disturbance rejection.
+
+ :param measured_value: The current process variable
+ :param dt: Time difference since the last update
+ :return: Control output
+ """
+ error = self.setpoint - measured_value
+
+ # Extended State Observer (ESO) Update
+ self.z1 += dt * (self.z2 - self.beta1 * (self.z1 - measured_value))
+ self.z2 += dt * (self.z3 - self.beta2 * (self.z1 - measured_value))
+ self.z3 -= self.beta3 * (self.z1 - measured_value)
+
+ # Control Law (Nonlinear State Error Feedback - NLSEF)
+ control_output = self.z2 - self.z3
+ return control_output
+
+ def reset(self):
+ """Reset the estimated states."""
+ self.z1 = 0.0
+ self.z2 = 0.0
+ self.z3 = 0.0
+
+
+if __name__ == "__main__":
+ import doctest
+ doctest.testmod()
+
+
From 9934f06f672ea90a8cd0809e67673ed00ccc866a Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
<66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Mon, 31 Mar 2025 16:19:13 +0000
Subject: [PATCH 02/11] [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
---
control_algorithms/adrc.py | 3 +--
1 file changed, 1 insertion(+), 2 deletions(-)
diff --git a/control_algorithms/adrc.py b/control_algorithms/adrc.py
index 3ef4dbd73960..392cd2655178 100644
--- a/control_algorithms/adrc.py
+++ b/control_algorithms/adrc.py
@@ -59,6 +59,5 @@ def reset(self):
if __name__ == "__main__":
import doctest
- doctest.testmod()
-
+ doctest.testmod()
From 5ec73ec5d4294c92db0af832981408dbab483117 Mon Sep 17 00:00:00 2001
From: Divyansh Agrawal <your.email@example.com>
Date: Mon, 31 Mar 2025 22:03:40 +0530
Subject: [PATCH 03/11] Added the Active Disturbance Rejection Control (ADRC)
Algorithm
---
control_algorithms/__init__.py | 0
control_algorithms/adrc.py | 1 -
2 files changed, 1 deletion(-)
create mode 100644 control_algorithms/__init__.py
diff --git a/control_algorithms/__init__.py b/control_algorithms/__init__.py
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/control_algorithms/adrc.py b/control_algorithms/adrc.py
index 392cd2655178..6408a83089cb 100644
--- a/control_algorithms/adrc.py
+++ b/control_algorithms/adrc.py
@@ -39,7 +39,6 @@ def compute(self, measured_value: float, dt: float) -> float:
:param dt: Time difference since the last update
:return: Control output
"""
- error = self.setpoint - measured_value
# Extended State Observer (ESO) Update
self.z1 += dt * (self.z2 - self.beta1 * (self.z1 - measured_value))
From ceac158b6f5a2d3b537745ab64f0dc1f576e1cd3 Mon Sep 17 00:00:00 2001
From: Divyansh Agrawal <154041893+div-dev123@users.noreply.github.com>
Date: Wed, 2 Apr 2025 12:29:45 +0530
Subject: [PATCH 04/11] Update control_algorithms/adrc.py
Co-authored-by: Christian Clauss <cclauss@me.com>
---
control_algorithms/adrc.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/control_algorithms/adrc.py b/control_algorithms/adrc.py
index 6408a83089cb..fa90d73182b3 100644
--- a/control_algorithms/adrc.py
+++ b/control_algorithms/adrc.py
@@ -13,7 +13,7 @@
class ADRC:
- def __init__(self, beta1: float, beta2: float, beta3: float, setpoint: float = 0.0):
+ def __init__(self, error_correction: float, disturbance: float, acceleration: float, target: float = 0.0):
"""
Initialize the ADRC controller.
From 1c5dfe2555f34c6ba1d9292980aaebbf401ce874 Mon Sep 17 00:00:00 2001
From: Divyansh Agrawal <154041893+div-dev123@users.noreply.github.com>
Date: Wed, 2 Apr 2025 12:30:00 +0530
Subject: [PATCH 05/11] Update control_algorithms/adrc.py
Co-authored-by: Christian Clauss <cclauss@me.com>
---
control_algorithms/adrc.py | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/control_algorithms/adrc.py b/control_algorithms/adrc.py
index fa90d73182b3..1a856e160b05 100644
--- a/control_algorithms/adrc.py
+++ b/control_algorithms/adrc.py
@@ -27,9 +27,9 @@ def __init__(self, error_correction: float, disturbance: float, acceleration: fl
self.beta3 = beta3
self.setpoint = setpoint
- self.z1 = 0.0 # Estimated system output
- self.z2 = 0.0 # Estimated system velocity
- self.z3 = 0.0 # Estimated total disturbance
+ self.system_output = 0.0 # Estimated system output
+ self.system_velocity = 0.0 # Estimated system velocity
+ self.total_disturbance = 0.0 # Estimated total disturbance
def compute(self, measured_value: float, dt: float) -> float:
"""
From 9f64fc5ef8a11bb2946f68ace42393fe3ca2b094 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
<66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Wed, 2 Apr 2025 07:00:08 +0000
Subject: [PATCH 06/11] [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
---
control_algorithms/adrc.py | 8 +++++++-
1 file changed, 7 insertions(+), 1 deletion(-)
diff --git a/control_algorithms/adrc.py b/control_algorithms/adrc.py
index 1a856e160b05..e8148753fc5f 100644
--- a/control_algorithms/adrc.py
+++ b/control_algorithms/adrc.py
@@ -13,7 +13,13 @@
class ADRC:
- def __init__(self, error_correction: float, disturbance: float, acceleration: float, target: float = 0.0):
+ def __init__(
+ self,
+ error_correction: float,
+ disturbance: float,
+ acceleration: float,
+ target: float = 0.0,
+ ):
"""
Initialize the ADRC controller.
From 7884c0e0cba9b75ac76e91bbe3948452407b5f30 Mon Sep 17 00:00:00 2001
From: Divyansh Agrawal <154041893+div-dev123@users.noreply.github.com>
Date: Wed, 2 Apr 2025 12:30:39 +0530
Subject: [PATCH 07/11] Update control_algorithms/adrc.py
Co-authored-by: Christian Clauss <cclauss@me.com>
---
control_algorithms/adrc.py | 3 +--
1 file changed, 1 insertion(+), 2 deletions(-)
diff --git a/control_algorithms/adrc.py b/control_algorithms/adrc.py
index e8148753fc5f..4c158e2d3c2e 100644
--- a/control_algorithms/adrc.py
+++ b/control_algorithms/adrc.py
@@ -52,8 +52,7 @@ def compute(self, measured_value: float, dt: float) -> float:
self.z3 -= self.beta3 * (self.z1 - measured_value)
# Control Law (Nonlinear State Error Feedback - NLSEF)
- control_output = self.z2 - self.z3
- return control_output
+ return self.z2 - self.z3
def reset(self):
"""Reset the estimated states."""
From c09256db7eaebb2d23f4fa14d7620c2dc24cbf09 Mon Sep 17 00:00:00 2001
From: Divyansh Agrawal <your.email@example.com>
Date: Wed, 2 Apr 2025 12:46:25 +0530
Subject: [PATCH 08/11] Refactor ADRC class with readable names, type hints,
and doctests
---
control_algorithms/adrc.py | 62 ++++++++++++++++++++++++++------------
1 file changed, 42 insertions(+), 20 deletions(-)
diff --git a/control_algorithms/adrc.py b/control_algorithms/adrc.py
index 4c158e2d3c2e..940516170faa 100644
--- a/control_algorithms/adrc.py
+++ b/control_algorithms/adrc.py
@@ -19,46 +19,68 @@ def __init__(
disturbance: float,
acceleration: float,
target: float = 0.0,
- ):
+ ) -> None:
"""
Initialize the ADRC controller.
- :param beta1: Gain for error correction in ESO
- :param beta2: Gain for disturbance estimation in ESO
- :param beta3: Gain for acceleration estimation in ESO
- :param setpoint: Desired target value
+ :param error_correction: Gain for error correction in ESO
+ :param disturbance: Gain for disturbance estimation in ESO
+ :param acceleration: Gain for acceleration estimation in ESO
+ :param target: Desired target value (default: 0.0)
+ >>> adrc = ADRC(1.0, 2.0, 3.0, 5.0)
+ >>> adrc.error_correction, adrc.disturbance, adrc.acceleration, adrc.target
+ (1.0, 2.0, 3.0, 5.0)
+ >>> adrc.system_output, adrc.system_velocity, adrc.total_disturbance
+ (0.0, 0.0, 0.0)
"""
- self.beta1 = beta1
- self.beta2 = beta2
- self.beta3 = beta3
- self.setpoint = setpoint
+ self.error_correction = error_correction
+ self.disturbance = disturbance
+ self.acceleration = acceleration
+ self.target = target
self.system_output = 0.0 # Estimated system output
self.system_velocity = 0.0 # Estimated system velocity
self.total_disturbance = 0.0 # Estimated total disturbance
- def compute(self, measured_value: float, dt: float) -> float:
+ def calculate_control_output(self, measured_value: float, dt: float) -> float:
"""
Compute the control signal based on error estimation and disturbance rejection.
:param measured_value: The current process variable
:param dt: Time difference since the last update
:return: Control output
+ >>> adrc = ADRC(10.0, 5.0, 2.0)
+ >>> (adrc.system_output, adrc.system_velocity,
+ ... adrc.total_disturbance) = (1.0, 2.0, 3.0)
+ >>> adrc.calculate_control_output(0.5, 0.1) # Simple test with dt=0.1
+ 0.8
"""
-
# Extended State Observer (ESO) Update
- self.z1 += dt * (self.z2 - self.beta1 * (self.z1 - measured_value))
- self.z2 += dt * (self.z3 - self.beta2 * (self.z1 - measured_value))
- self.z3 -= self.beta3 * (self.z1 - measured_value)
+ error = self.system_output - measured_value
+ self.system_output += dt * (
+ self.system_velocity - self.error_correction * error
+ )
+ self.system_velocity += dt * (self.total_disturbance - self.disturbance * error)
+ self.total_disturbance -= self.acceleration * error
# Control Law (Nonlinear State Error Feedback - NLSEF)
- return self.z2 - self.z3
+ control_output = self.system_velocity - self.total_disturbance
+ return control_output
+
+ def reset(self) -> None:
+ """
+ Reset the estimated states to zero.
- def reset(self):
- """Reset the estimated states."""
- self.z1 = 0.0
- self.z2 = 0.0
- self.z3 = 0.0
+ >>> adrc = ADRC(1.0, 2.0, 3.0)
+ >>> (adrc.system_output, adrc.system_velocity,
+ ... adrc.total_disturbance) = (1.1, 2.2, 3.3)
+ >>> adrc.reset()
+ >>> adrc.system_output, adrc.system_velocity, adrc.total_disturbance
+ (0.0, 0.0, 0.0)
+ """
+ self.system_output = 0.0
+ self.system_velocity = 0.0
+ self.total_disturbance = 0.0
if __name__ == "__main__":
From fca1fe95502706fc3599ed392f9b0a7c3c406d21 Mon Sep 17 00:00:00 2001
From: Divyansh Agrawal <your.email@example.com>
Date: Wed, 2 Apr 2025 12:54:10 +0530
Subject: [PATCH 09/11] Fixed Doctests
---
control_algorithms/adrc.py | 16 +++++++++++-----
1 file changed, 11 insertions(+), 5 deletions(-)
diff --git a/control_algorithms/adrc.py b/control_algorithms/adrc.py
index 940516170faa..e819542dc40a 100644
--- a/control_algorithms/adrc.py
+++ b/control_algorithms/adrc.py
@@ -50,10 +50,13 @@ def calculate_control_output(self, measured_value: float, dt: float) -> float:
:param dt: Time difference since the last update
:return: Control output
>>> adrc = ADRC(10.0, 5.0, 2.0)
- >>> (adrc.system_output, adrc.system_velocity,
- ... adrc.total_disturbance) = (1.0, 2.0, 3.0)
+ >>> (
+ ... adrc.system_output,
+ ... adrc.system_velocity,
+ ... adrc.total_disturbance,
+ ... ) = (1.0, 2.0, 3.0)
>>> adrc.calculate_control_output(0.5, 0.1) # Simple test with dt=0.1
- 0.8
+ 0.05
"""
# Extended State Observer (ESO) Update
error = self.system_output - measured_value
@@ -72,8 +75,11 @@ def reset(self) -> None:
Reset the estimated states to zero.
>>> adrc = ADRC(1.0, 2.0, 3.0)
- >>> (adrc.system_output, adrc.system_velocity,
- ... adrc.total_disturbance) = (1.1, 2.2, 3.3)
+ >>> (
+ ... adrc.system_output,
+ ... adrc.system_velocity,
+ ... adrc.total_disturbance,
+ ... ) = (1.1, 2.2, 3.3)
>>> adrc.reset()
>>> adrc.system_output, adrc.system_velocity, adrc.total_disturbance
(0.0, 0.0, 0.0)
From 7e2da79488e71a9df8da293c62a53c4c24b65c99 Mon Sep 17 00:00:00 2001
From: Divyansh Agrawal <your.email@example.com>
Date: Wed, 2 Apr 2025 12:57:41 +0530
Subject: [PATCH 10/11] Fixed Doctests
---
control_algorithms/adrc.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/control_algorithms/adrc.py b/control_algorithms/adrc.py
index e819542dc40a..1037ec9a73e7 100644
--- a/control_algorithms/adrc.py
+++ b/control_algorithms/adrc.py
@@ -56,7 +56,7 @@ def calculate_control_output(self, measured_value: float, dt: float) -> float:
... adrc.total_disturbance,
... ) = (1.0, 2.0, 3.0)
>>> adrc.calculate_control_output(0.5, 0.1) # Simple test with dt=0.1
- 0.05
+ 0.0.04999999999999982
"""
# Extended State Observer (ESO) Update
error = self.system_output - measured_value
From 68f54f6f917dbf29d1df7c4f9ac78196a49ee6f5 Mon Sep 17 00:00:00 2001
From: Divyansh Agrawal <your.email@example.com>
Date: Wed, 2 Apr 2025 12:59:35 +0530
Subject: [PATCH 11/11] Fixed Doctests
---
control_algorithms/adrc.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/control_algorithms/adrc.py b/control_algorithms/adrc.py
index 1037ec9a73e7..0e03dffb57f8 100644
--- a/control_algorithms/adrc.py
+++ b/control_algorithms/adrc.py
@@ -56,7 +56,7 @@ def calculate_control_output(self, measured_value: float, dt: float) -> float:
... adrc.total_disturbance,
... ) = (1.0, 2.0, 3.0)
>>> adrc.calculate_control_output(0.5, 0.1) # Simple test with dt=0.1
- 0.0.04999999999999982
+ 0.04999999999999982
"""
# Extended State Observer (ESO) Update
error = self.system_output - measured_value