Trajectory Tracking with Generalized Active Disturbance Rejection Control Using Kalman Filter-based Extended State Observer

This paper addresses trajectory tracking in a stochastic environment. Active disturbance rejection control (ADRC) in a generalized approach was designed for a two degrees of freedom (DoF) mechanical system, a ball balancing table (BBT). A modification of the extended state observer (ESO) tuning based on the Kalman filter (KF) gains was presented. The experiments were carried out for different levels of measurement noise. Using the proposed modification of the ESO gains selection, a better quality of trajectory tracking under measurement noises was achieved compared to the standard pole placement (PP) tuning method.