Title
Improving Performance of ADRC Control Systems Affected by Measurement Noise Using Kalman Filter-Tuned Extended State Observer
Authors
[ 1 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 2 ] Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 3 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee | [ S ] student
Scientific discipline (Law 2.0)
[2.2] Automation, electronics, electrical engineering and space technologies
Year of publication
2024
Published in
Article type
scientific article
Publication language
english
Keywords
EN
- ADRC
- extended state observer tuning
- noise filtering
- ball balancing table
Abstract
EN This paper presents a novel tuning method for the extended state observer (ESO), which is applied in the active disturbance rejection control (ADRC) algorithm operating in a stochastic environment. Instead of the traditional pole placement (PP) method, the selection of ESO gains based on the noise variances of the Kalman filter (KF) is proposed. Also, a simple parametrization of ESO gains for the particular control process based on the observer bandwidth is introduced. A root locus and frequency analysis is conducted for the KF-based observer and presented with regard to the proposed tuning method. The presented results come from experiments carried out on the ball balancing table (BBT) real plant for various measurement noise levels. The possibilities of rejecting measurement noise by the estimation algorithm were investigated to ensure effective control and minimize the control signal energy. Based on the conducted experiments, one can conclude that the presented tuning method provides better results than the traditional PP algorithm in the stochastic environment in terms of control quality and reduction in measurement noise.
Pages (from - to)
4916-1 - 4916-21
License type
CC BY (attribution alone)
Open Access Mode
open journal
Open Access Text Version
final published version
Date of Open Access to the publication
at the time of publication
Full text of article
Access level to full text
public
Ministry points / journal
100
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