A composite fractional order active disturbance rejection control method for a class of uncertain systems with multiple disturbances

作者：Zheng, Weijia^*; Chen, Yangquan; Wang, Xiaohong^*; Guo, Fang; Chen, Yong

来源：INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2024.

DOI：10.1002/rnc.7216

• active disturbance rejection control
• disturbance observer
• extended state observer
• fractional order control

The existing active disturbance rejection control (ADRC) method may not provide sufficient disturbance rejection to multiple mismatched disturbances for the fractional order systems. In this paper, a composite disturbance rejection approach is developed for a class of fractional order uncertain systems, by synthesizing the fractional order ADRC (FOADRC) approach and a disturbance observer (DO)-based compensation scheme. Taking advantage of more disturbance information and a filter structure, an improved DO is developed to achieve precise estimation of disturbances in the presence of sensor noises. In addition, a state transformation is developed to convert the system into a simple integral chain model with only matched disturbances. Then a composite control law is designed to compensate the disturbances and provide satisfying dynamic performance. The efficiency of the proposed method is demonstrated by a numerical simulation and an actual servo control simulation, as well as the comparison with two kinds of the existing ADRC methods and the commonly used integral sliding mode control (I-SMC) method.

• 单位
  佛山科学技术学院