An Improved Active Disturbance Rejection Control for Bode's Ideal Transfer Function
Abstract
This paper presents an active disturbance rejection control (ADRC) scheme with an improved fractional-order extended state observer (IFO-ESO).Based on the new ADRC scheme, the open-loop transfer function of a high-order system can be approximately rendered to a so-called Weighed Bode's ideal transfer function, whose closed-loop performance is less prone to the controller parameter variations. The design of the IFO-ESO helps reduce the number of system states to be estimated and improves the performance of closed-loop system over %the previously proposed the fractional-order active disturbance rejection control (FO-ADRC) in the literature. Compared with the integer-order active disturbance rejection controller (IO-ADRC) and FO-ADRC, the auxiliary tracking controller of IFO-ADRC has a simpler form. Frequency-domain analysis shows that IFO-ESO has better estimation performance than fractional-order ESO, and time-domain simulation demonstrates that the proposed ADRC has better transient performance and is more robust against the parameter variations than FO-ADRC and IO-ADRC. The proposed ADRC is applied to permanent magnet synchronous motor (PMSM) servo control system and demonstrates its capability in a real-world application.
- Publication:
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arXiv e-prints
- Pub Date:
- January 2022
- DOI:
- 10.48550/arXiv.2201.02907
- arXiv:
- arXiv:2201.02907
- Bibcode:
- 2022arXiv220102907L
- Keywords:
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- Electrical Engineering and Systems Science - Systems and Control
- E-Print:
- 11 pages, 19 figures. arXiv admin note: substantial text overlap with arXiv:2112.05553