Development status of Active Disturbance Rejection Control

摘要

In recent years, with the further demands of control systems, different kinds of conventional proportional-integral-derivative (PID) controllers, which arc driven by error feedback, are not able to meet the requirements. Thus, Active Disturbance Rejection Controller (ADRC) performing better in robustness and scope of application, which is developed by Jingqing Han, has been developed in recent years. A discussion on ADRC is investigated in this paper. A good ADRC is composed of proper tracking differentiator (TD), extended state observer (ESO) and nonlinear state error feedback (NLSEF). It can eliminate the influence of total internal and external disturbances by using the state parameter estimation in advance. Because of these advantages, ADRC can be applied in almost all domains of control engineering, such as motion control, speed control of permanent-magnet synchronous motor, flight control, attitude tracking of spacecraft, gasifier benchmark problem, etc. Through compared analysis with the applications of PID controller in industry areas, the priorities of ADRC are discussed in detail. Meanwhile, some basic rules of adjusting parameters of ADRC are summarized to promote its spread and application.