Finite-Time Active Disturbance Rejection Control Based on High-Order Sliding Mode

Abstract

This study is concerned with the finite-time active disturbance rejection controller for inertial stabilization platform (ISP) with two inputs and two outputs. It uses the high-order sliding mode technology to construct an extended state observer (ESO), which can lump the internal coupling factors and external disturbances of the system for estimation and compensation. Then the general PD control law is used to realize the feedback control of the position signal, which ensures the stability and tracking performance of the system. Compared with the traditional active disturbance rejection control (ADRC) method, the improved controller has better stability performance and further improves the anti-interference ability of ISP. At the same time, it ensures the output tracking error that can converge quickly to zero in finite time. The effectiveness of this control method is verified by numerical simulation of ISP system.