2018/05/01 by Wameedh Riyadh Abdul‐Adheem, Abdul-Adheem, Wameedh R., Ibraheem K. Ibraheem +1
Engineering · #Adaptive Control of Nonlinear Systems #Advanced Control Systems Optimization #Dynamical Systems (math.DS) #FOS: Electrical engineering #FOS: Mathematics #Signal Processing (eess.SP) #Stability and Control of Uncertain Systems #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1805.00505
openalex publication_date 2018/05/01 · openalex created_date 2022/10/02 · openalex updated_date 2026/07/28
In this paper, a Novel Active Disturbance Rejection Control (N-ADRC) strategy\nis proposed that replaces the Linear Extended state observer (LESO) used in\nConventional ADRC (C-ADRC) with a Nested LESO. In the nested LESO, the\ninner-loop LESO actively estimates and eliminates the generalized disturbance.\nIncreasing the bandwidth improves the estimation accuracy which may tolerate\nnoise and conflict with H/W limitations and the sampling frequency of the\nsystem. Therefore, an alternative scenario is offered without increasing the\nbandwidth of the inner-loop LESO provided that the rate of change of the\ngeneralized disturbance estimation error is upper bounded. This is achieved by\nthe placing an outer-loop LESO in parallel with the inner one, it estimates and\neliminates the remaining generalized disturbance that eluded from the\ninner-loop LESO due to bandwidth limitations. The stability of LESO and nested\nLESO is investigated using Lyapunov stability analysis. Simulations on\nuncertain nonlinear SISO system with time-varying exogenous disturbance\nrevealed that the proposed nested LESO can successfully deal with a generalized\ndisturbance in both noisy and noise-free environments, where the Integral Time\nAbsolute Error (ITAE) of the tracking error for the nested LESO is reduced by\n69.87% from that of the LESO.\n