Stability and performance comparison analysis for linear active disturbance rejection control–based system

Abstract

This paper investigates the stability and performance of the linear active disturbance rejection control (LADRC)–based system with uncertainties and external disturbance via transfer functions and a frequency-domain view. The performance of LADRC is compared with the state-observer-based state feedback control (SOSFC) and state feedback control (SFC). First, the transfer functions and the error transfer functions for LADRC, SOSFC, and SFC are studied using the state-space method. It is proven that the LADRC-, SOSFC-, and SFC-based closed-loop systems have the same transfer function from the reference input to the output and achieve the same control effects for the nominal system. Then, it is proven for the first time that the LADRC has a better anti-interference ability than the SOSFC and SFC. Besides, the asymptotic stability condition of LADRC-based closed-loop system considering large parameter perturbations is given first. Moreover, the sensitivity analysis of the closed-loop system is carried out. The results show that the LADRC has stronger robustness under parameter perturbations. According to the results, we conclude that the LADRC is of great disturbance rejection ability and strong robustness.

Model and Data-Driven Combination: A Fault Diagnosis and Localization Method for Unknown Fault Size of Quadrotor UAV Actuator Based on Extended State Observer and Deep Forest

“…In this scheme, model-based and data-driven methods are combined to realize fault type diagnosis and fault localization identification simultaneously. The Extended State Observer (ESO) is an observer in Active Disturbance Rejection Control (ADRC) [ 15 ]. ESO can track the motion state of the system quickly and accurately with a small number of parameters [ 16 ].…”