Details

Autor(en) / Beteiligte

• Du, Youwu
• Cao, Weihua
• She, Jinhua

Titel

Analysis and Design of Active Disturbance Rejection Control With an Improved Extended State Observer for Systems With Measurement Noise

Ist Teil von

• IEEE transactions on industrial electronics (1982), 2023-01, Vol.70 (1), p.855-865

Ort / Verlag

New York: IEEE

Erscheinungsjahr

2023

Link zum Volltext

• Volltext

Quelle

IEEE Electronic Library (IEL)

Beschreibungen/Notizen

• This article presents a new method that employs the active disturbance rejection control (ADRC) paradigm to handle the control problem for a class of nonlinear systems with unknown disturbances and measurement noise. An improved extended state observer (ESO) is devised to separate disturbance estimation from state reconstruction and a new parameter is used to adjust disturbance-rejection performance independently. This increases the flexibility of system design and makes the gain of the improved ESO (IESO) small compared to that of a conventional ESO in the ADRC. A low-pass filter is added to the IESO. This changes the slope of the magnitude curve of the Bode diagram from <inline-formula><tex-math notation="LaTeX">-20</tex-math></inline-formula> dB/dec to <inline-formula><tex-math notation="LaTeX">-40</tex-math></inline-formula> dB/dec at high frequencies for measurement noise, which improves the noise-suppression performance. Comparison with a conventional ESO reveals the superiority of the IESO in disturbance rejection and noise suppression. The presented method is validated by simulation and experimental results.