Active Disturbance Rejection Control Based on an Improved Equivalent-Input-Disturbance Approach

Author

Rui-Juan Liu ; Min Wu ; Guo-Ping Liu ; Jinhua She ; Thomas, Cedric

Author_Institution

Hunan Eng. Lab. for Adv. Control & Intell. Autom., Central South Univ., Changsha, China

Volume

18

Issue

4

fYear

2013

fDate

Aug. 2013

Firstpage

1410

Lastpage

1413

Abstract

This paper presents an improved equivalent-inputdisturbance (IEID) approach for disturbance rejection. It can be used for both minimumand nonminimum-phase plants. First, a full-order generalized state observer (GSO) is employed in the construction of an IEID-based servo system to estimate an equivalent input disturbance. Then, a stability condition is derived and a GSO design algorithm is developed based on the stability condition and a pole placement algorithm. Finally, a numerical example demonstrates the validity of this method.

Keywords

observers; pole assignment; servomechanisms; stability criteria; GSO design algorithm; IEID-based servo system; active disturbance rejection control; full-order generalized state observer; improved equivalent-input-disturbance estimation; minimum-phase plants; nonminimum-phase plants; pole placement algorithm; stability condition; Algorithm design and analysis; Mechatronics; Observers; Servomotors; Stability analysis; Disturbance estimation; disturbance rejection; equivalent input disturbance (EID); generalized state observer (GSO); pole placement;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/TMECH.2012.2230014

Filename

6381523