Similarity analysis of disturbance observer and active disturbance rejection control for typical motor-driven system

High-precision motion control has attracted a lot of attentions in the control fields of mechatronic system. Nev­ertheless, the dynamic performance of a motor-driven system is limited due to system uncertainties and complex disturbances. These challenges deteriorate the accuracy of the motion control system. In recent years, Disturbance Observer (DOB) and Active Disturbance Rejection Control (ADRC) have earned widespread acceptance in the field of disturbance rejection control. This paper presents a similarity analysis of DOB and ADRC for a typical motor-driven system in frequency domain, similarities and differences between them are analyzed. To confirm the analysis, simulations is conducted. The analysis result could propose new design ideas based on DOB and ADRC with better adaptablility for kinds of complex systems.

[1]  Jun Yang,et al.  On Relationship Between Time-Domain and Frequency-Domain Disturbance Observers and Its Applications , 2016 .

[2]  Zhiqiang Gao,et al.  On the centrality of disturbance rejection in automatic control. , 2014, ISA transactions.

[3]  Shuzhi Sam Ge,et al.  Direct Adaptive Neural Control for a Class of Uncertain Nonaffine Nonlinear Systems Based on Disturbance Observer , 2013, IEEE Transactions on Cybernetics.

[4]  Emre Sariyildiz,et al.  Stability and Robustness of Disturbance-Observer-Based Motion Control Systems , 2019, IEEE Transactions on Industrial Electronics.

[5]  Il-Kwon Oh,et al.  Active Disturbance Rejection Control for Precise Position Tracking of Ionic Polymer–Metal Composite Actuators , 2013, IEEE/ASME Transactions on Mechatronics.

[6]  Kouhei Ohnishi,et al.  Motion control for advanced mechatronics , 1996 .

[7]  Ligang Wu,et al.  State estimation and sliding mode control for semi-Markovian jump systems with mismatched uncertainties , 2015, Autom..

[8]  Yuanqing Xia,et al.  Frequency domain stability analysis of nonlinear active disturbance rejection control system. , 2015, ISA transactions.

[9]  Young Il Lee,et al.  Disturbance-observer-based model predictive control for output voltage regulation of three-phase inverter for uninterruptible-power-supply applications , 2015, Eur. J. Control.

[10]  Yaonan Wang,et al.  Adaptive RBFNNs/integral sliding mode control for a quadrotor aircraft , 2016, Neurocomputing.

[11]  Jingqing Han,et al.  From PID to Active Disturbance Rejection Control , 2009, IEEE Trans. Ind. Electron..

[12]  Zhiqiang Gao,et al.  Scaling and bandwidth-parameterization based controller tuning , 2003, Proceedings of the 2003 American Control Conference, 2003..

[13]  Bao-Zhu Guo,et al.  On active disturbance rejection control for nonlinear systems using time-varying gain , 2015, Eur. J. Control.

[14]  Bao-Zhu Guo,et al.  The Active Disturbance Rejection Control to Stabilization for Multi-Dimensional Wave Equation With Boundary Control Matched Disturbance , 2015, IEEE Transactions on Automatic Control.

[15]  A. Isidori,et al.  Nonlinear system I , 1999 .

[16]  Bin Yao,et al.  $\mu$-Synthesis-Based Adaptive Robust Control of Linear Motor Driven Stages With High-Frequency Dynamics: A Case Study , 2015, IEEE/ASME Transactions on Mechatronics.

[17]  Wenchao Xue,et al.  Comparison of the DOB based control, a special kind of PID control and ADRC , 2011, Proceedings of the 2011 American Control Conference.

[18]  Jia Liu,et al.  High acceleration motion control based on a time-domain identification method and the disturbance observer , 2014 .

[19]  Ken Chen,et al.  Frequency-Domain Analysis of Nonlinear Active Disturbance Rejection Control via the Describing Function Method , 2013, IEEE Transactions on Industrial Electronics.

[20]  Di Cao,et al.  Adaptive Dynamic Surface Control of MEMS Gyroscope Sensor Using Fuzzy Compensator , 2016, IEEE Access.

[21]  Hamid D. Taghirad,et al.  Adaptive robust control of fully-constrained cable driven parallel robots , 2015 .

[22]  Horacio Coral-Enriquez,et al.  Spatial observer-based repetitive controller: An active disturbance rejection approach , 2015 .

[23]  Dapeng Tian,et al.  Improving transparency of bilateral control system by sliding mode assist disturbance observer , 2013 .