Active disturbance rejection control for electrical cylinder

Abstract

The position tracking control problem of electrical cylinder in the presence of nonlinear friction load, inertia load and nonlinear disturbance due to its transmission process is addressed in this paper. To compensate all of these disturbances in the case of servo motion, active disturbance rejection control is used to make a continuous and precise transition. Tracking differentiator is used for arranging the transition process to avoid overshoot. Extended state observer is built to estimate the unmeasurable internal disturbance, parametric uncertainties and external uncertainty for a guaranteed robust performance. Nonlinear state error feedback is designed to combine the error feedbacks more reasonable. Simulation and experimental results show that active disturbance rejection controller shows very strong robustness and adaptability compared with traditional PID control algorithm.