Abstract
Reduced-order active disturbance rejection controller (RADRC) treats the controlled plant as a cascade integral model, assuming as little information about the plant as possible. However, if more information of the plant is known, we can use this information in the design to improve the control performance. This paper proposes a new RADRC parameter tuning method. The proposed method starts from generalized active disturbance rejection control (GADRC) with known plant information, and then the parameters of an RADRC is obtained by approximation with the GADRC. According to the fact that the feedback controllers of RADRC and GADRC have the same zeros, the RADRC parameters are computed on the premise that they have similar disturbance rejection performance. In the proposed method, the RADRC parameters are expressed in the form of bandwidth, which is the most commonly used tuning method for RADRC, thus they are easy to be retuned online. Combing the advantage of both RADRC and GADRC or other controllers, RADRC can be expected to achieve the desired performance with convenience.
Highlights
Active disturbance rejection control (ADRC) is a new control technology [1], [2] consisting of a tracking differentiator (TD), an extended state observer (ESO), and a state error feedback (SEF) control law
The effectiveness of the proposed method is verified from the response in frequency domain, time domain and the robust performance
Throughout the paper, 1) ADRC is for active disturbance rejection control technique proposed by Han [1], [2], which is a nonlinear control technique; 2) LADRC is for the linear ADRC proposed by Gao [3], [4]; 3) generalized active disturbance rejection control (GADRC) is for the LADRC designed with the available model information; 4) Reduced-order active disturbance rejection controller (RADRC) is for an LADRC with a reduced-order ESO
Summary
Active disturbance rejection control (ADRC) is a new control technology [1], [2] consisting of a tracking differentiator (TD), an extended state observer (ESO), and a state error feedback (SEF) control law. The main contributions of the paper are as follows: 1) To improve the control performance of conventional LADRC, this paper proposes an RADRC parameter tuning method. This method starts from generalized active disturbance rejection control with known plant information. Throughout the paper, 1) ADRC is for active disturbance rejection control technique proposed by Han [1], [2], which is a nonlinear control technique; 2) LADRC is for the linear ADRC proposed by Gao [3], [4]; 3) GADRC (generalized ADRC) is for the LADRC designed with the available model information; 4) RADRC is for an LADRC with a reduced-order ESO. It is observed that C2(s) is a proper transfer function with integrator
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