Control design for nonlinear electromechanical actuation system based on fuzzy PID and active disturbance rejection control

Abstract

In this paper, the control strategy based on fuzzy PID and active disturbance rejection control (ADRC) is proposed because of the weak robustness and low control precision of electromechanical actuation (EMA) system, which is caused by the uncertain factors like parameter perturbation and load disturbance. The nonlinear model of EMA system is firstly established and then the load variation and nonlinear factors are regarded as the overall disturbance of the system. Then the active disturbance rejection controller is designed in the speed loop to compensate for the disturbance terms and improve the anti-interference ability of the system. Next, considering the influence of system parameter perturbation, the fuzzy PID controller is developed in the position loop to improve the tracking accuracy and system robustness. Finally, numerical simulation results and analysis show that the control strategy for the EMA has good tracking performance and strong anti-interference ability.