ANALYSIS OF EXTENDED-STATE-OBSERVER AND ACTIVE-DISTURBANCE-REJECTION CONTROL IN THE SPEED CONTROL OF DC MOTOR SYSTEM

This study considers the problems of manipulators with high coupling, parameter uncertainties, and external disturbances. A six-axis serial manipulator control system based on active disturbance rejection control strategy is proposed without the requirement of the exact dynamic model. First, the operating circuit of the manipulator joint motor is analyzed, and the mathematical model of the direct-current torque motor is established. Second, the components of active disturbance rejection control are designed, and a new nonlinear function is selected to construct the extended state observer and nonlinear state error feedback control law. Then, Kalman filter is introduced into an extended state observer to estimate the disturbance efficiently. Finally, the proportion–integration–differentiation control, traditional active disturbance rejection control, and improved active disturbance rejection control are simulated and compared under the same input signal. The results show that the proposed control strategy has good dynamic performance and uncertain disturbance robustness, which proves the effectiveness of the proposed method.

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Active Disturbance Rejection Control with Low Power Extended State Observer and its Application to Speed Control of Single Shaft Gas Turbines

10.36227/techrxiv.12980477.v1 ◽

2020 ◽

Author(s):

Xiaoyang Li

Keyword(s):

Low Power ◽

Disturbance Rejection ◽

Gas Turbines ◽

Speed Control ◽

Extended State Observer ◽

Active Disturbance Rejection Control ◽

Extended State ◽

Active Disturbance Rejection ◽

Disturbance Rejection Control ◽

Performance Recovery

Low power ESO based active disturbance rejection control (LPADRC) was proposed and the performance recovery was analyzed.

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Spatial trajectory tracking control for unmanned airships based on active disturbance rejection control

Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering ◽

10.1177/0954410018774124 ◽

2018 ◽

Vol 233 (6) ◽

pp. 2231-2240 ◽

Cited By ~ 2

Author(s):

Wenjie Lou ◽

Ming Zhu ◽

Xiao Guo

Keyword(s):

Trajectory Tracking ◽

Disturbance Rejection ◽

State Observer ◽

Extended State Observer ◽

Active Disturbance Rejection Control ◽

Extended State ◽

Tracking Differentiator ◽

Active Disturbance Rejection ◽

Disturbance Rejection Control ◽

Spatial Trajectory

In this paper, to address the spatial trajectory tracking problem of unmanned airships, a robust controller based on active disturbance rejection control is presented. By transforming the airship model to a standardized form, a straightforward design approach is adopted for the design of the controller. Active disturbance rejection control is composed of a tracking differentiator, an extended state observer, and a nonlinear state error feedback. The proposed controller replaces the conventional tracking differentiator with a third-order differentiator. The new tracking differentiator provides higher tracking precision and smoother transient process. The external disturbances and model uncertainties are observed by the extended state observer and compensated in the controller design, subsequently. Comparisons with technologies frequently used in the trajectory tracking are made through numerical simulation. The comparisons validate that the proposed controller provides satisfying performance and robustness in the presence of model uncertainty and external disturbance.

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