Abstract
As autonomous teleoperation control becomes the new hotspot for space teleoperation, interesting control challenges including large variant timedelay, model error and various disturbances are presented. Facing these practical challenges, the traditional model predictor fails to give a satisfactory solution. In order to make up this limitation, this work designs two kinds of error feedback controller: a linear classical one using error proportional-integral-derivative (PID) and a nonlinear one named active disturbance rejection controller (ADRC). These two approaches are compared via simulations, and higher efficiency of ADRC with new kind of differentiator and state observer added is proven by several simulation results.
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