Equivalence between Reduced Order Extended State Observer based Active Disturbance Rejection Control and Disturbance Observers Based control schemes

A frequency domain approach is used to establish an equivalence between Reduced Order Extended State Observer (ROESO) based Active Disturbance Rejection Control (ADRC) and Disturbance Observer Based (DOB) control using nominal (estimated) state feedback. These robust control schemes are traditionall...

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Bibliographic Details
Main Authors: Sira-Ramirez, H., Gomez Leon, B. C., Aguilar-Orduna, M. A., Zurita-Bustamante, E. W.
Format: Conference Proceeding
Language:English
Subjects:
Computational modeling
Disturbance observers
Frequency-domain analysis
Robust control
State feedback
Trajectory tracking
Transfer functions
Online Access:Request full text
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Summary:A frequency domain approach is used to establish an equivalence between Reduced Order Extended State Observer (ROESO) based Active Disturbance Rejection Control (ADRC) and Disturbance Observer Based (DOB) control using nominal (estimated) state feedback. These robust control schemes are traditionally devised to solve automatic control problems for systems with unmeasured states and subject to unknown disturbances. The results are presented in the context of pure integration perturbed systems, which constitute a paradigmatic model of nonlinear, uncertain, SISO differentially flat systems. Application to the control of a non-trivial, nonlinear, mechanical example is presented along with computer simulations.
ISSN:2768-0770
DOI:10.1109/CCTA48906.2021.9658779