feat(adrc): Add Active Disturbance Rejection Control (ADRC) component by finger563 · Pull Request #627 · esp-cpp/espp

finger563 · 2026-05-30T20:42:55Z

Description

Add Active Disturbance Rejection Control (ADRC) component

Motivation and Context

ADRC is an alternative linear and nonlinear model-free control for systems, to be used alongside of or as a replacement to PID. Target applications might be motor or trajectory control of a robot.

How has this been tested?

Build and run adrc/example on a QtPy ESP32s3

Screenshots (if appropriate, e.g. schematic, board, console logs, lab pictures):

I (312) main_task: Calling app_main()
ADRC example
Linear first-order ADRC example
t=0.00s ref=0.00 y=0.000 u=0.000 z2=0.000
t=0.10s ref=0.00 y=0.000 u=0.000 z2=0.000
t=0.20s ref=0.00 y=0.000 u=0.000 z2=0.000
t=0.30s ref=1.00 y=0.198 u=4.000 z2=0.002
t=0.40s ref=1.00 y=0.552 u=3.851 z2=-0.325
t=0.50s ref=1.00 y=0.776 u=2.459 z2=-0.707
t=0.60s ref=1.00 y=0.886 u=1.834 z2=-0.945
t=0.70s ref=1.00 y=0.942 u=1.523 z2=-1.070
t=0.80s ref=1.00 y=0.970 u=1.365 z2=-1.133
t=0.90s ref=1.00 y=0.985 u=1.284 z2=-1.166
t=1.00s ref=1.00 y=0.992 u=1.243 z2=-1.183
t=1.10s ref=1.00 y=0.996 u=1.222 z2=-1.191
t=1.20s ref=1.00 y=0.998 u=1.211 z2=-1.196
t=1.30s ref=1.00 y=0.999 u=1.206 z2=-1.198
t=1.40s ref=1.00 y=0.999 u=1.203 z2=-1.199
t=1.50s ref=1.00 y=1.000 u=1.201 z2=-1.199
t=1.60s ref=1.00 y=1.000 u=1.201 z2=-1.200
t=1.70s ref=1.00 y=1.000 u=1.200 z2=-1.200
t=1.80s ref=1.00 y=1.000 u=1.200 z2=-1.200
t=1.90s ref=1.00 y=1.000 u=1.200 z2=-1.200
t=2.00s ref=1.00 y=1.000 u=1.200 z2=-1.200
t=2.10s ref=1.00 y=1.000 u=1.200 z2=-1.200
t=2.20s ref=1.00 y=1.000 u=1.200 z2=-1.200
t=2.30s ref=1.00 y=1.000 u=1.200 z2=-1.200
t=2.40s ref=1.00 y=1.000 u=1.200 z2=-1.200
t=2.50s ref=1.00 y=0.999 u=1.200 z2=-1.200
t=2.60s ref=1.00 y=0.963 u=1.978 z2=-1.732
t=2.70s ref=1.00 y=0.975 u=2.114 z2=-1.924
t=2.80s ref=1.00 y=0.987 u=2.072 z2=-1.969
t=2.90s ref=1.00 y=0.993 u=2.038 z2=-1.985
t=3.00s ref=1.00 y=0.997 u=2.019 z2=-1.992
t=3.10s ref=1.00 y=0.998 u=2.010 z2=-1.996
t=3.20s ref=1.00 y=0.999 u=2.005 z2=-1.998
t=3.30s ref=1.00 y=1.000 u=2.003 z2=-1.999
t=3.40s ref=1.00 y=1.000 u=2.001 z2=-1.999
t=3.50s ref=1.00 y=1.000 u=2.001 z2=-2.000
t=3.60s ref=1.00 y=1.000 u=2.000 z2=-2.000
t=3.70s ref=1.00 y=1.000 u=2.000 z2=-2.000
t=3.80s ref=1.00 y=1.000 u=2.000 z2=-2.000
t=3.90s ref=1.00 y=1.000 u=2.000 z2=-2.000
t=4.00s ref=1.00 y=1.000 u=2.000 z2=-2.000
t=4.10s ref=1.00 y=1.000 u=2.000 z2=-2.000
t=4.20s ref=1.00 y=1.000 u=2.000 z2=-2.000
t=4.30s ref=1.00 y=1.000 u=2.000 z2=-2.000
t=4.40s ref=1.00 y=1.000 u=2.000 z2=-2.000
t=4.50s ref=1.00 y=1.000 u=2.000 z2=-2.000
t=4.60s ref=1.00 y=1.000 u=2.000 z2=-2.000
t=4.70s ref=1.00 y=1.000 u=2.000 z2=-2.000
t=4.80s ref=1.00 y=1.000 u=2.000 z2=-2.000
t=4.90s ref=1.00 y=1.000 u=2.000 z2=-2.000
t=5.00s ref=1.00 y=1.000 u=2.000 z2=-2.000
Linear second-order ADRC example
t=0.00s ref=0.00 y=0.000 u=0.000 z3=0.000
t=0.10s ref=0.00 y=0.000 u=0.000 z3=0.000
t=0.20s ref=0.00 y=0.000 u=0.000 z3=0.000
t=0.30s ref=1.00 y=0.010 u=8.000 z3=-0.034
t=0.40s ref=1.00 y=0.076 u=8.000 z3=-1.794
t=0.50s ref=1.00 y=0.185 u=8.000 z3=-4.208
t=0.60s ref=1.00 y=0.313 u=8.000 z3=-6.407
t=0.70s ref=1.00 y=0.442 u=8.000 z3=-8.180
t=0.80s ref=1.00 y=0.558 u=8.000 z3=-9.457
t=0.90s ref=1.00 y=0.653 u=8.000 z3=-10.237
t=1.00s ref=1.00 y=0.722 u=8.000 z3=-10.574
t=1.10s ref=1.00 y=0.766 u=8.000 z3=-10.552
t=1.20s ref=1.00 y=0.786 u=8.000 z3=-10.270
t=1.30s ref=1.00 y=0.786 u=8.000 z3=-9.827
t=1.40s ref=1.00 y=0.773 u=8.000 z3=-9.313
t=1.50s ref=1.00 y=0.751 u=8.000 z3=-8.801
t=1.60s ref=1.00 y=0.724 u=8.000 z3=-8.344
t=1.70s ref=1.00 y=0.698 u=8.000 z3=-7.974
t=1.80s ref=1.00 y=0.673 u=8.000 z3=-7.707
t=1.90s ref=1.00 y=0.654 u=8.000 z3=-7.542
t=2.00s ref=1.00 y=0.639 u=8.000 z3=-7.469
t=2.10s ref=1.00 y=0.630 u=8.000 z3=-7.472
t=2.20s ref=1.00 y=0.626 u=8.000 z3=-7.528
t=2.30s ref=1.00 y=0.625 u=8.000 z3=-7.619
t=2.40s ref=1.00 y=0.628 u=8.000 z3=-7.725
t=2.50s ref=1.00 y=0.633 u=8.000 z3=-7.831
t=2.60s ref=1.00 y=0.644 u=8.000 z3=-7.189
t=2.70s ref=1.00 y=0.663 u=8.000 z3=-7.282
t=2.80s ref=1.00 y=0.686 u=8.000 z3=-7.663
t=2.90s ref=1.00 y=0.710 u=8.000 z3=-7.997
t=3.00s ref=1.00 y=0.731 u=8.000 z3=-8.242
t=3.10s ref=1.00 y=0.749 u=8.000 z3=-8.395
t=3.20s ref=1.00 y=0.762 u=8.000 z3=-8.466
t=3.30s ref=1.00 y=0.771 u=8.000 z3=-8.470
t=3.40s ref=1.00 y=0.775 u=8.000 z3=-8.423
t=3.50s ref=1.00 y=0.776 u=8.000 z3=-8.345
t=3.60s ref=1.00 y=0.773 u=8.000 z3=-8.252
t=3.70s ref=1.00 y=0.769 u=8.000 z3=-8.158
t=3.80s ref=1.00 y=0.765 u=8.000 z3=-8.073
t=3.90s ref=1.00 y=0.760 u=8.000 z3=-8.003
t=4.00s ref=1.00 y=0.755 u=8.000 z3=-7.952
t=4.10s ref=1.00 y=0.752 u=8.000 z3=-7.919
t=4.20s ref=1.00 y=0.749 u=8.000 z3=-7.904
t=4.30s ref=1.00 y=0.747 u=8.000 z3=-7.903
t=4.40s ref=1.00 y=0.746 u=8.000 z3=-7.912
t=4.50s ref=1.00 y=0.746 u=8.000 z3=-7.928
t=4.60s ref=1.00 y=0.746 u=8.000 z3=-7.947
t=4.70s ref=1.00 y=0.747 u=8.000 z3=-7.967
t=4.80s ref=1.00 y=0.748 u=8.000 z3=-7.984
t=4.90s ref=1.00 y=0.749 u=8.000 z3=-7.999
t=5.00s ref=1.00 y=0.750 u=8.000 z3=-8.010
Han first-order ADRC example
t=0.00s ref=0.00 td=0.000 y=0.000 u=0.000
t=0.10s ref=0.00 td=0.000 y=0.000 u=0.000
t=0.20s ref=0.00 td=0.000 y=0.000 u=0.000
t=0.30s ref=1.00 td=0.057 y=0.012 u=0.581
t=0.40s ref=1.00 td=0.509 y=0.176 u=3.048
t=0.50s ref=1.00 td=0.943 y=0.515 u=4.000
t=0.60s ref=1.00 td=1.000 y=0.793 u=2.930
t=0.70s ref=1.00 td=1.000 y=0.928 u=1.964
t=0.80s ref=1.00 td=1.000 y=0.981 u=1.469
t=0.90s ref=1.00 td=1.000 y=0.997 u=1.256
t=1.00s ref=1.00 td=1.000 y=0.999 u=1.210
t=1.10s ref=1.00 td=1.000 y=1.000 u=1.202
t=1.20s ref=1.00 td=1.000 y=1.000 u=1.200
t=1.30s ref=1.00 td=1.000 y=1.000 u=1.200
t=1.40s ref=1.00 td=1.000 y=1.000 u=1.200
t=1.50s ref=1.00 td=1.000 y=1.000 u=1.200
t=1.60s ref=1.00 td=1.000 y=1.000 u=1.200
t=1.70s ref=1.00 td=1.000 y=1.000 u=1.200
t=1.80s ref=1.00 td=1.000 y=1.000 u=1.200
t=1.90s ref=1.00 td=1.000 y=1.000 u=1.200
t=2.00s ref=1.00 td=1.000 y=1.000 u=1.200
t=2.10s ref=1.00 td=1.000 y=1.000 u=1.200
t=2.20s ref=1.00 td=1.000 y=1.000 u=1.200
t=2.30s ref=1.00 td=1.000 y=1.000 u=1.200
t=2.40s ref=1.00 td=1.000 y=1.000 u=1.200
t=2.50s ref=1.00 td=1.000 y=0.999 u=1.200
t=2.60s ref=1.00 td=1.000 y=0.999 u=1.932
t=2.70s ref=1.00 td=1.000 y=1.000 u=1.996
t=2.80s ref=1.00 td=1.000 y=1.000 u=2.000
t=2.90s ref=1.00 td=1.000 y=1.000 u=2.000
t=3.00s ref=1.00 td=1.000 y=1.000 u=2.000
t=3.10s ref=1.00 td=1.000 y=1.000 u=2.000
t=3.20s ref=1.00 td=1.000 y=1.000 u=2.000
t=3.30s ref=1.00 td=1.000 y=1.000 u=2.000
t=3.40s ref=1.00 td=1.000 y=1.000 u=2.000
t=3.50s ref=1.00 td=1.000 y=1.000 u=2.000
t=3.60s ref=1.00 td=1.000 y=1.000 u=2.000
t=3.70s ref=1.00 td=1.000 y=1.000 u=2.000
t=3.80s ref=1.00 td=1.000 y=1.000 u=2.000
t=3.90s ref=1.00 td=1.000 y=1.000 u=2.000
t=4.00s ref=1.00 td=1.000 y=1.000 u=2.000
t=4.10s ref=1.00 td=1.000 y=1.000 u=2.000
t=4.20s ref=1.00 td=1.000 y=1.000 u=2.000
t=4.30s ref=1.00 td=1.000 y=1.000 u=2.000
t=4.40s ref=1.00 td=1.000 y=1.000 u=2.000
t=4.50s ref=1.00 td=1.000 y=1.000 u=2.000
t=4.60s ref=1.00 td=1.000 y=1.000 u=2.000
t=4.70s ref=1.00 td=1.000 y=1.000 u=2.000
t=4.80s ref=1.00 td=1.000 y=1.000 u=2.000
t=4.90s ref=1.00 td=1.000 y=1.000 u=2.000
t=5.00s ref=1.00 td=1.000 y=1.000 u=2.000
Han second-order ADRC example
t=0.00s ref=0.00 td=0.000 y=0.000 u=0.000 z3=0.000
t=0.10s ref=0.00 td=0.000 y=0.000 u=0.000 z3=0.000
t=0.20s ref=0.00 td=0.000 y=0.000 u=0.000 z3=0.000
t=0.30s ref=1.00 td=0.076 y=0.006 u=8.000 z3=-0.467
t=0.40s ref=1.00 td=0.649 y=0.066 u=8.000 z3=-2.803
t=0.50s ref=1.00 td=0.995 y=0.171 u=8.000 z3=-5.201
t=0.60s ref=1.00 td=1.000 y=0.298 u=8.000 z3=-7.251
t=0.70s ref=1.00 td=1.000 y=0.428 u=8.000 z3=-8.822
t=0.80s ref=1.00 td=1.000 y=0.546 u=8.000 z3=-9.883
t=0.90s ref=1.00 td=1.000 y=0.644 u=8.000 z3=-10.462
t=1.00s ref=1.00 td=1.000 y=0.716 u=8.000 z3=-10.630
t=1.10s ref=1.00 td=1.000 y=0.762 u=8.000 z3=-10.476
t=1.20s ref=1.00 td=1.000 y=0.784 u=8.000 z3=-10.106
t=1.30s ref=1.00 td=1.000 y=0.787 u=8.000 z3=-9.618
t=1.40s ref=1.00 td=1.000 y=0.775 u=8.000 z3=-9.093
t=1.50s ref=1.00 td=1.000 y=0.753 u=8.000 z3=-8.594
t=1.60s ref=1.00 td=1.000 y=0.727 u=8.000 z3=-8.168
t=1.70s ref=1.00 td=1.000 y=0.701 u=8.000 z3=-7.840
t=1.80s ref=1.00 td=1.000 y=0.676 u=8.000 z3=-7.617
t=1.90s ref=1.00 td=1.000 y=0.656 u=8.000 z3=-7.494
t=2.00s ref=1.00 td=1.000 y=0.641 u=8.000 z3=-7.458
t=2.10s ref=1.00 td=1.000 y=0.631 u=8.000 z3=-7.486
t=2.20s ref=1.00 td=1.000 y=0.626 u=8.000 z3=-7.561
t=2.30s ref=1.00 td=1.000 y=0.625 u=8.000 z3=-7.662
t=2.40s ref=1.00 td=1.000 y=0.628 u=8.000 z3=-7.771
t=2.50s ref=1.00 td=1.000 y=0.632 u=8.000 z3=-7.873
t=2.60s ref=1.00 td=1.000 y=0.643 u=8.000 z3=-7.016
t=2.70s ref=1.00 td=1.000 y=0.662 u=8.000 z3=-7.483
t=2.80s ref=1.00 td=1.000 y=0.685 u=8.000 z3=-7.857
t=2.90s ref=1.00 td=1.000 y=0.709 u=8.000 z3=-8.145
t=3.00s ref=1.00 td=1.000 y=0.731 u=8.000 z3=-8.342
t=3.10s ref=1.00 td=1.000 y=0.749 u=8.000 z3=-8.450
t=3.20s ref=1.00 td=1.000 y=0.762 u=8.000 z3=-8.483
t=3.30s ref=1.00 td=1.000 y=0.771 u=8.000 z3=-8.455
t=3.40s ref=1.00 td=1.000 y=0.775 u=8.000 z3=-8.388
t=3.50s ref=1.00 td=1.000 y=0.776 u=8.000 z3=-8.299
t=3.60s ref=1.00 td=1.000 y=0.773 u=8.000 z3=-8.203
t=3.70s ref=1.00 td=1.000 y=0.770 u=8.000 z3=-8.111
t=3.80s ref=1.00 td=1.000 y=0.765 u=8.000 z3=-8.033
t=3.90s ref=1.00 td=1.000 y=0.760 u=8.000 z3=-7.971
t=4.00s ref=1.00 td=1.000 y=0.755 u=8.000 z3=-7.931
t=4.10s ref=1.00 td=1.000 y=0.752 u=8.000 z3=-7.907
t=4.20s ref=1.00 td=1.000 y=0.749 u=8.000 z3=-7.900
t=4.30s ref=1.00 td=1.000 y=0.747 u=8.000 z3=-7.906
t=4.40s ref=1.00 td=1.000 y=0.746 u=8.000 z3=-7.919
t=4.50s ref=1.00 td=1.000 y=0.746 u=8.000 z3=-7.938
t=4.60s ref=1.00 td=1.000 y=0.746 u=8.000 z3=-7.957
t=4.70s ref=1.00 td=1.000 y=0.747 u=8.000 z3=-7.977
t=4.80s ref=1.00 td=1.000 y=0.748 u=8.000 z3=-7.993
t=4.90s ref=1.00 td=1.000 y=0.749 u=8.000 z3=-8.005
t=5.00s ref=1.00 td=1.000 y=0.750 u=8.000 z3=-8.016
ADRC example complete!

Types of changes

Bug fix (non-breaking change which fixes an issue)
New feature (non-breaking change which adds functionality)
Breaking change (fix or feature that would cause existing functionality to not work as expected)
Documentation Update
Hardware (schematic, board, system design) change
Software change

Checklist:

My change requires a change to the documentation.
I have added / updated the documentation related to this change via either README or WIKI

Software

I have added tests to cover my changes.
I have updated the .github/workflows/build.yml file to add my new test to the automated cloud build github action.
All new and existing tests passed.
My code follows the code style of this project.

github-actions · 2026-05-30T20:43:35Z

✅Static analysis result - no issues found! ✅

Copilot

Pull request overview

Adds a new adrc component providing Active Disturbance Rejection Control utilities: a Han tracking differentiator and four ADRC controllers (linear and Han nonlinear, first- and second-order), together with an example application and the corresponding documentation and CI wiring.

Changes:

New components/adrc component (header-only logic in adrc.hpp plus stub .cpp, CMake, manifest, README, example).
Documentation added: doc/en/adrc.rst, doc/en/adrc_example.md, Doxyfile entries, and index entry.
CI wiring: build.yml matrix entry and upload_components.yml upload entry.

Reviewed changes

Copilot reviewed 15 out of 15 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
components/adrc/include/adrc.hpp	Core ADRC classes (TD + 4 controllers)
components/adrc/src/adrc.cpp	Empty translation unit including the header
components/adrc/CMakeLists.txt	Component registration requiring `base_component`
components/adrc/idf_component.yml	IDF component manifest
components/adrc/README.md	Component-level overview
components/adrc/example/CMakeLists.txt	Example project cmake
components/adrc/example/README.md	Example overview
components/adrc/example/main/CMakeLists.txt	Example main component registration
components/adrc/example/main/adrc_example.cpp	Simulated plants exercising all 4 controllers
doc/Doxyfile	Adds adrc header and example to Doxygen INPUT/EXAMPLE_PATH
doc/en/index.rst	Adds `adrc` entry to docs toctree
doc/en/adrc.rst	Long-form ADRC documentation and tuning guide
doc/en/adrc_example.md	Includes the example README
.github/workflows/build.yml	Adds ADRC example to CI matrix (esp32)
.github/workflows/upload_components.yml	Adds ADRC to component upload list

Copilot

Pull request overview

Copilot reviewed 15 out of 15 changed files in this pull request and generated 1 comment.

Copilot

Pull request overview

Copilot reviewed 15 out of 15 changed files in this pull request and generated 6 comments.

Copilot

Pull request overview

Copilot reviewed 16 out of 16 changed files in this pull request and generated 4 comments.

Copilot

Pull request overview

Copilot reviewed 16 out of 16 changed files in this pull request and generated no new comments.

feat(adrc): Add Active Disturbance Rejection Control (ADRC) component

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Copilot AI review requested due to automatic review settings May 30, 2026 20:42

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Comment thread components/adrc/include/adrc.hpp Outdated

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Comment thread components/adrc/include/adrc.hpp Outdated

finger563 self-assigned this May 30, 2026

finger563 added 2 commits June 2, 2026 07:53

address sa

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address comments

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Comment thread components/adrc/example/main/adrc_example.cpp

address comments

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finger563 requested a review from Copilot June 2, 2026 13:59

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finger563 added enhancement New feature or request motor control adrc labels Jun 2, 2026

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finger563 added 2 commits June 2, 2026 10:33

address comments re: race conditions around getters

9c6b04e

add sdkconfig defaults

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Comment thread components/adrc/include/adrc.hpp

Comment thread components/adrc/include/adrc.hpp

Comment thread components/adrc/include/adrc.hpp

Comment thread components/adrc/include/adrc.hpp

address comments

cf2352a

finger563 requested a review from Copilot June 3, 2026 17:15

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finger563 merged commit 5d8f7f3 into main Jun 3, 2026
109 of 110 checks passed

finger563 deleted the feat/adrc branch June 3, 2026 17:37

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Description

Motivation and Context

How has this been tested?

Screenshots (if appropriate, e.g. schematic, board, console logs, lab pictures):

Types of changes

Checklist:

Software

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✅Static analysis result - no issues found! ✅

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2 participants

finger563 commented May 30, 2026 •

edited

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github-actions Bot commented May 30, 2026 •

edited

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