A composite fractional order active disturbance rejection control method for a class of uncertain systems with multiple disturbances

Author:

Zheng Weijia1ORCID,Chen YangQuan2ORCID,Wang Xiaohong3ORCID,Guo Fang1,Chen Yong1

Affiliation:

1. School of Mechatronic Engineering and Automation Foshan University Foshan China

2. School of Engineering University of California Merced California USA

3. School of Automation Science and Engineering South China University of Technology Guangzhou China

Abstract

SummaryThe existing active disturbance rejection control (ADRC) method may not provide sufficient disturbance rejection to multiple mismatched disturbances for the fractional order systems. In this paper, a composite disturbance rejection approach is developed for a class of fractional order uncertain systems, by synthesizing the fractional order ADRC (FOADRC) approach and a disturbance observer (DO)‐based compensation scheme. Taking advantage of more disturbance information and a filter structure, an improved DO is developed to achieve precise estimation of disturbances in the presence of sensor noises. In addition, a state transformation is developed to convert the system into a simple integral chain model with only matched disturbances. Then a composite control law is designed to compensate the disturbances and provide satisfying dynamic performance. The efficiency of the proposed method is demonstrated by a numerical simulation and an actual servo control simulation, as well as the comparison with two kinds of the existing ADRC methods and the commonly used integral sliding mode control (I‐SMC) method.

Funder

National Natural Science Foundation of China

Natural Science Foundation of Guangdong Province

Publisher

Wiley

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