Second-order linear active disturbance rejection control based on linear variable error extended state observer

Wentao Yang; Lin Wang; Xiaofu Zhao; Meimei Jia

doi:10.1117/12.2652675

10 November 2022 Second-order linear active disturbance rejection control based on linear variable error extended state observer

Wentao Yang, Lin Wang, Xiaofu Zhao, Meimei Jia

Author Affiliations +

Proceedings Volume 12331, International Conference on Mechanisms and Robotics (ICMAR 2022); 123312W (2022) https://doi.org/10.1117/12.2652675
Event: International Conference on Mechanisms and Robotics (ICMAR 2022), 2022, Zhuhai, China

Abstract

This paper proposes a linear variable error extended state observer (VELESO) based on the problem that the output response under linear active disturbance rejection control (LADRC) oscillates by uncertain disturbance. The stability of VELESO is also proved from the perspective of Lyapunov stability principle. Meanwhile, the concept of virtual step length is introduced by the possibility of coupling among the controller’s adjusted parameter. The virtual step length as a bridge which links the adjusted parameter of the controller is used, in theory, to simplify parameter tuning. In the simulation, the observer accuracy is first tested. Comparing with performance index ITAE of observation errors (e1, e2 and e3) of linear extended state observer (LESO), the ITAE corresponding to VELESO increases by 96.51%, 99.78% and 14.64% respectively. Then, the control performance is also verified. Under the index ITAE of LADRC that contains VELESO is better than LADRC by a simulation of coupled system.

Citation Download Citation

Wentao Yang, Lin Wang, Xiaofu Zhao, and Meimei Jia "Second-order linear active disturbance rejection control based on linear variable error extended state observer", Proc. SPIE 12331, International Conference on Mechanisms and Robotics (ICMAR 2022), 123312W (10 November 2022); https://doi.org/10.1117/12.2652675

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