Details

Autor(en) / Beteiligte

• Fu, Caifen
• Tan, Wen

Titel

Analysis and tuning of reduced-order active disturbance rejection control

Ist Teil von

• Journal of the Franklin Institute, 2021-01, Vol.358 (1), p.339-362

Ort / Verlag

Elmsford: Elsevier Ltd

Erscheinungsjahr

2021

Quelle

Alma/SFX Local Collection

Beschreibungen/Notizen

• •Analysis and tuning of reduced-order linear active disturbance rejection control (RADRC) is investigated.•It is shown that any proper transfer function with integral can be realized by the RADRC structure, thus RADRC can serve as a general-purpose fixed-structured controller.•The relationship between the parameters of RADRC and the full-order LADRC is analyzed. To reduce the phase lag introduced by extended state observer (ESO), an reduced-order active disturbance rejection control (RADRC) method is recommended. This paper investigates the structure and parameter tuning of RADRC. Firstly, it is shown that RADRC can serve as a general-purpose fixed-structure controller because any proper controller with integrator can be realized via an RADRC. Then the relationship between the parameters of an RADRC and those of a full-order linear active disturbance rejection control (LADRC) is analyzed. It is shown that an RADRC with the proper controller and observer gains can obtain similar disturbance-rejection performance as a full-order LADRC. Simulation results demonstrate that any plant that can be controlled by LADRC can also be controlled by an RADRC with a similar disturbance-rejection performance.