Analysis and Design of Active Disturbance Rejection Control With an Improved Extended State Observer for Systems With Measurement Noise

Abstract

This article presents a new method that employs the active disturbance rejection control (ADRC) paradigm to handle the control problem for a class of nonlinear systems with unknown disturbances and measurement noise. An improved extended state observer (ESO) is devised to separate disturbance estimation from state reconstruction and a new parameter is used to adjust disturbance-rejection performance independently. This increases the flexibility of system design and makes the gain of the improved ESO (IESO) small compared to that of a conventional ESO in the ADRC. A low-pass filter is added to the IESO. This changes the slope of the magnitude curve of the Bode diagram from <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$-20$</tex-math></inline-formula> dB/dec to <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$-40$</tex-math></inline-formula> dB/dec at high frequencies for measurement noise, which improves the noise-suppression performance. Comparison with a conventional ESO reveals the superiority of the IESO in disturbance rejection and noise suppression. The presented method is validated by simulation and experimental results.