EXTENDED ACTIVE DISTURBANCE REJECTION CONTROLLER

摘要

Multiple designs, systems, methods and processes for controlling a system or plant using an extended active disturbance rejection control (ADRC) based controller are presented. The extended ADRC controller accepts sensor information from the plant. The sensor information is used in conjunction with an extended state observer in combination with a predictor that estimates and predicts the current state of the plant and a co-joined estimate of the system disturbances and system dynamics. The extended state observer estimates and predictions are used in conjunction with a control law that generates an input to the system based in part on the extended state observer estimates and predictions as well as a desired trajectory for the plant to follow.

主权项

1. A system for controlling velocity of a plant, comprising:
a first order state space model comprising a velocity value, v(t), where v(t) equals the sum of f(t) and b*u(t), f(t) represents the combined effects of internal dynamics and external disturbance of the plant, u(t) is a control signal, and b is a constant to an approximate value; a linear extended state observer, which is a function of a single performance parameter, for estimating the value of f(t); and a monitor adapted to cancel the effect of f(t) on the velocity value by an estimate from the linear extended state observer.