Kalman Filter as an Alternative to Extended State Observer in ADRC Control Algorithm
Jacek Michalski,
Mikołaj Mrotek,
Piotr Kozierski
Abstract:The article presents a modified Active Disturbance Rejection Control (ADRC) algorithm that uses the Kalman Filter (KF) for the estimation of extended state vector. The Kalman filter replaced the Extended State Observer (ESO) used in its basic form. The purpose of this modification was to improve the system robustness under conditions of stochastic measurement disturbances. The method of the control system synthesis and the Kalman filter gains selection, ensuring control efficiency, as well as their impact on t… Show more
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