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| Quantitative analysis on the phase margin of ADRC |
| ShengZhong1,2,3,YiHuang2,3 |
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| (1 Beijing Aerospace Automatic Control Institute, Beijing 100854, China
2 Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100190, China
3 School of Mathematical Sciences, University of Chinese Academy of Sciences, Beijing 100049, China) |
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| 摘要: |
| The paper analyzes and compares the phase margins of four active disturbance rejection control (ADRC) designs, which are based on different common-used extended state observers (ESOs) of various orders, for second-order systems. The quantitative results indicate that, besides good dynamic response, ADRC can guarantee enough phase margin. It is also proved that by decreasing the order of ESO, the phase margin can be increased. Furthermore, it is demonstrated that the phase margins of the ADRC-based systems can be almost uninfluenced by the uncertainties of the system parameters. Finally, the theoretical results are verified by both simulations and experiments on a motion control platform. |
| 关键词: Uncertain system · Active disturbance rejection control (ADRC) · Extended state observer (ESO) · Phase margin · Crossover frequency |
| DOI：https://doi.org/10.1007/s11768-023-00128-z |
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| 基金项目:This work was supported by the National Key R & D Program of China (No. 2018YFA0703800) and the National Natural Science Foundation of China (No. U20B2054). |
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| Quantitative analysis on the phase margin of ADRC |
| Sheng Zhong1,2,3,Yi Huang2,3 |
| (1 Beijing Aerospace Automatic Control Institute, Beijing 100854, China
2 Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100190, China
3 School of Mathematical Sciences, University of Chinese Academy of Sciences, Beijing 100049, China) |
| Abstract: |
| The paper analyzes and compares the phase margins of four active disturbance rejection control (ADRC) designs, which are based on different common-used extended state observers (ESOs) of various orders, for second-order systems. The quantitative results indicate that, besides good dynamic response, ADRC can guarantee enough phase margin. It is also proved that by decreasing the order of ESO, the phase margin can be increased. Furthermore, it is demonstrated that the phase margins of the ADRC-based systems can be almost uninfluenced by the uncertainties of the system parameters. Finally, the theoretical results are verified by both simulations and experiments on a motion control platform. |
| Key words: Uncertain system · Active disturbance rejection control (ADRC) · Extended state observer (ESO) · Phase margin · Crossover frequency |
