Novel Active Disturbance Rejection Control Based on Nested Linear Extended State Observers

Abstract

In this paper, a Novel Active Disturbance Rejection Control (N-ADRC) strategy is proposed that replaces the Linear Extended State Observer (LESO) used in Conventional ADRC (C-ADRC) with a nested LESO. In the nested LESO, the inner-loop LESO actively estimates and eliminates the generalized disturbance. Increasing the bandwidth improves the estimation accuracy which may tolerate noise and conflict with H/W limitations and the sampling frequency of the system. Therefore, an alternative scenario is offered without increasing the bandwidth of the inner-loop LESO provided that the rate of change of the generalized disturbance estimation error is upper bounded. This was achieved by the placing of an outer-loop LESO in parallel with the inner one that estimates and eliminates the remaining generalized disturbance originating from the inner-loop LESO due to bandwidth limitations. The stability of LESO and nested LESO was investigated using Lyapunov stability analysis. Simulations on uncertain nonlinear single-input-single-output (SISO) system with time-varying exogenous disturbance revealed that the proposed nested LESO could successfully deal with a generalized disturbance in both noisy and noise-free environments, where the Integral Time Absolute Error (ITAE) of the tracking error for the nested LESO was reduced by 69.87% from that of the LESO.

Active Disturbance Rejection Control for a Five-Level Cascaded H-Bridge Inverter Fed Induction Motor Sensorless Field-Oriented

“…For that, ADRC is used as a robust control approach. Its principle is that all failures, disturbances, and uncertainties are handled in real-time as "total perturbation" through being calculated and compensated [25,32]. It can estimate the whole perturbation as an extended state of the system by the introduction of the extended state observer (ESO).…”

Anti-Disturbance Dynamic Surface Control for Position Tracking of Interior Permanent Magnet Synchronous Motor Based on Nonlinear Extended State Observer

“…IPMSM is a complicated system of high-nonlinearities, strong-coupling and multi-variables, and its parameters are very sensitive to environment. In order to achieve high control performance of IPMSM, such as fast response, high precision, and strong anti-disturbance capacity, various control strategies are proposed including proportional integral (PI) control [4], [5], [6], [7], [8], neural network (NN) control [9], [10], [11], [12], [13], [14], fuzzy control [15], [16], [17], [3], [18], sliding mode control [19], [20], [21], [22], [23], predictive control [24], [25], [26], [27], dynamic surface control(DSC) [10], [28], [29], [30], [13] and extended-state-observer-based control [31], [32], [33], [34], [35], [36], [37], [38], [39], [40], [41], etc. Specifically, in [3], a discrete-time fuzzy position tracking controller is designed via backstepping approach to overcome the problem of coupling nonlinearity in the IPMSM drive system.…”

“…In [33], an ESO combined with a terminal continuous sliding mode controller is proposed to improve disturbances rejection performance of the manipulator PMSM in the trajectory tracking process. In [36], a nested linear ESO is presented to actively estimate and eliminate generalized disturbance in real-time without increasing the bandwidth. In [39], an enhanced linear active disturbance rejection control-based high-frequency pulse voltage signal injection is proposed to improve the control performance, where a cascaded linear ESO is established to guarantee relatively timely and accurate estimation of the total disturbance.…”

Trajectory Tracking Active Disturbance Rejection Control of the Unmanned Helicopter and Its Parameters Tuning

“…Abdul-Adheem et al [18] designed an ADRC controller based on an improved extended state observer for MIMO systems and achieved good control results. In reference [19], Abdul-Adheem et al proposed a Novel Active Disturbance Rejection Control (N-ADRC) strategy that replaces the Linear Extended State Observer (LESO) used in Conventional ADRC (C-ADRC) with a nested LESO. Simulations on uncertain nonlinear single-input-single-output (SISO) systems with time-varying exogenous disturbance revealed that the proposed nested LESO could successfully deal with a generalized disturbance in both noisy and noisefree environments.…”