Trajectory tracking controller design of high-order ball and plate system based on improved auto-disturbance rejection controller

摘要

Ball and plate system is a high-order, uncertainty, nonlinear systems. Aiming at this system, a cascade control strategy with low-order active disturbance rejection controller (ADRC) is proposed in this paper. After the nonlinear system is converted into cascade system of several low-order nonlinear subsystems, the controller can be designed. This strategy solves the difficulties of structure design and parameter setting with high-order ADRC. Because the disturbance and uncertainty are treated as an additional state variable, which is then estimated and compensated for in real time through the ESO, the problems of uncertain, nonlinear, and disturbance rejection are all solved. At the same time, a new nonlinear function is used in ADRC to solve the chatter problem of controller. The results of simulation experiments indicate that the proposed strategy has better dynamic, robust characteristics.