Improved Active Disturbance Rejection Control based on PSO for a Precise Rotating Servo System

DOI

10.2991/icmeit-19.2019.83How to use a DOI?

Keywords

ADRC; ESO; NLSEF; NTSM; PSO.

Abstract

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.

Copyright

© 2019, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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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
BT  - Proceedings of the 3rd International Conference on Mechatronics Engineering and Information Technology (ICMEIT 2019)
PB  - Atlantis Press
SP  - 513
EP  - 525
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmeit-19.2019.83
DO  - 10.2991/icmeit-19.2019.83
ID  - He2019/04
ER  -