A Robust Control Methodology based on Active Disturbance Rejection Control and Input Shaping

다국어 초록 (Multilingual Abstract)

Active disturbance Rejection Control (ADRC) is widely used in a variety of fields during past 20 years. The core component, Extended State Observer (ESO), is designed to estimate the total disturbance and perturbation as well as the system states which are not unmeasurable. The total disturbances are lumped and then compensated in the control law in real time. Thereby the algorithm is independent on the exact model and precise information of plant. To further enhance its performance, input-shaping (IS), as a vibration suppression feed forward method, is used to reduce the overshoot. The simulation results demonstrate that the improved ADRC has a fast response capability and maintains a considerable response of disturbance rejection. It is concluded that the combination of the two techniques are applicable in the cases where the fast disturbance rejection and non-overshoot set-point tracking is favored without a precise model at hand.

목차 (Table of Contents)

• Abstract
• 1. INTRODUCTION
• 2. CONTROL SCHEME
• 3. SIMULATION
• 4. CONCLUSIONS
• 5. ACKNOWLEDGEMENTS
• REFERENCES