Abstract
In this article, a modified scheme of nonlinear active disturbance rejection control (ADRC) is proposed by correcting the disturbance compensation and improving the speed observer. The stability, disturbance rejection and tracking performance of the modified ADRC scheme are analyzed and compared with that of the typical ADRC scheme utilizing the describing function method and numerical method, which shows that the dynamic stiffness and tracking performance are significantly improved while the stability almost remains invariant. Both the simulations and experiments are conducted in inertial stabilized platform (ISP) control system. It turns out that the simulation and experimental results further support the analysis.
Highlights
Most industrial control systems often encounter the problems of uncertainty and external disturbances, which seriously restrict the system from obtaining excellent control accuracy
For the sake of simplicity, in the subsequent parts of this article, typical nonlinear active disturbance rejection control (ADRC) is described as ADRC-C, the nonlinear ADRC after disturbance compensation correction and speed observer improvement is described as ADRC-A
The constrains between the parameters of ADRC are as follows: 1) h is the sampling control step; 2) β1 and β2 are the extended state observer parameters when the observer is in a steady state, 2β1 < β2 < 10β1; 3) δ should be greater than the peak noise of the gyro; 4) α should be in the range of (0,1]; 5) b0 is relevant to the controlled plant, and b0 = KI KT /J
Summary
Most industrial control systems often encounter the problems of uncertainty and external disturbances, which seriously restrict the system from obtaining excellent control accuracy To address this issue, various methods have been proposed to estimate and compensate the disturbance and uncertainty in the past few decades, such as the disturbance observer-based control (DOBC) [1], active disturbance rejection control (ADRC) [2], internal model control (IMC) [3], robust control [4], etc.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
