Improved Active Disturbance Rejection Control based on PSO for a Precise Rotating Servo System
Zhenxin He, Jie Wang, Xiangyang Li, Zhili Zhang, Liang Li
Available Online April 2019.
- https://doi.org/10.2991/icmeit-19.2019.83How to use a DOI?
- ADRC; ESO; NLSEF; NTSM; PSO.
- The precise rotating servo system is a nonlinear system and demands on high tracking precision and stabilization, so it is difficult to achieve an ideal control result using PID control strategy. An active disturbance rejection control (ADRC) strategy is presented to guarantee the state variables of the closed loop system to converge to the reference input. After arranging the transient dynamics of the desired attitude, we design an extended state observer (ESO) to estimate the impact from parametric uncertainties and disturbances, and the corresponding compensations can be performed online. Then a nonlinear state error feedback law (NLSEF) is designed to reject the tracking error and nonsingular terminal sliding mode control (NTSM) is an effective error combination form to restrain the chattering effectively and keep the system within finite time. To simply the parameters tuning process of ADRC, particle swarm optimization (PSO) is introduced to optimize the parameters of the controller. Simulation results show that the improved ADRC controller has the advantages of high precision and high disturbance rejection ability, which can meet the requirements of measurement precision and stability of the theodolite.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
TY - CONF AU - Zhenxin He AU - Jie Wang AU - Xiangyang Li AU - Zhili Zhang AU - Liang Li PY - 2019/04 DA - 2019/04 TI - Improved Active Disturbance Rejection Control based on PSO for a Precise Rotating Servo System PB - Atlantis Press SP - 513 EP - 525 SN - 2352-538X UR - https://doi.org/10.2991/icmeit-19.2019.83 DO - https://doi.org/10.2991/icmeit-19.2019.83 ID - He2019/04 ER -