Modified ADRC for Inertial Stabilized Platform With Corrected Disturbance Compensation and Improved Speed Observer

被引：8

作者：

Qu, Junhai ^{[1
,2
]}

Xia, Yuanqing ^{[1
]}

Shi, Yongping ^{[2
]}

Cao, Jingjing ^{[2
]}

Wang, Haiwen ^{[3
]}

Meng, Yunxia ^{[2
]}

机构：

[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China

[2] North Automat Control Technol Inst, Taiyuan 030006, Peoples R China

[3] Taiyuan Univ Sci & Technol, Sch Elect Informat Engn, Taiyuan 030024, Peoples R China

来源：

IEEE ACCESS | 2020年 / 8卷

基金：

中国国家自然科学基金;

关键词：

Control systems; Observers; Stability analysis; Uncertainty; Robust control; Transfer functions; Numerical stability; Active disturbance rejection control (ADRC); describing function method; inertial stabilized platform (ISP); speed observer; EXTENDED STATE OBSERVER; REJECTION CONTROL; CONTROL DESIGN; SYSTEMS; TRACKING;

D O I：

10.1109/ACCESS.2020.3020143

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this article, a modified scheme of nonlinear active disturbance rejection control (ADRC) is proposed by correcting the disturbance compensation and improving the speed observer. The stability, disturbance rejection and tracking performance of the modified ADRC scheme are analyzed and compared with that of the typical ADRC scheme utilizing the describing function method and numerical method, which shows that the dynamic stiffness and tracking performance are significantly improved while the stability almost remains invariant. Both the simulations and experiments are conducted in inertial stabilized platform (ISP) control system. It turns out that the simulation and experimental results further support the analysis.

引用

页码：157703 / 157716

页数：14

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