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Piecewise Sliding-Mode-Enhanced ADRC for Robust Active Disturbance Rejection Control Against Internal and Measurement
Shengze Yang1,2,3, Junfeng Ma1,2,3, Dayi Zhao1,2,3
1School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, China.
Abstract:
To address the challenges of insufficient response speed and robustness in optical attitude control systems under highly dynamic disturbances and internal uncertainties, a composite control strategy is proposed in this study. By integrating the proposed piecewise sliding control (P-SMC) with the improved active disturbance rejection control (ADRC), this strategy achieves complementary performance, which can not only suppress the disturbance but also converge to a bounded region fast. Under highly dynamic disturbances, the improved extended state observer (ESO) based on the EKF achieves rapid response with amplified state observations, and the Nonlinear State Error Feedback (NLSEF) generates a compensation signal to actively reject disturbances. Simultaneously, the robust sliding mode control (SMC) suppresses the effects of system nonlinearity and uncertainty. To address chattering and overshoot of the conventional SMC, this study proposes a novel P-SMC law which applies distinct reaching functions across different error bands. Furthermore, the key parameters of the composite scheme are globally optimized using the particle swarm optimization (PSO) algorithm to achieve Pareto-optimal trade-offs between tracking accuracy and disturbance rejection robustness. Finally, MATLAB simulation experiments validate the effectiveness of the proposed strategy under diverse representative disturbances. The results demonstrate improved performance in terms of response speed, overshoot, settling time and control input signals smoothness compared to conventional control algorithms (ADRC, C-ADRC, T-SMC-ADRC). The proposed strategy enhances the stability and robustness of optical attitude control system against internal uncertainties of system and sensor measurement noise. It achieves bounded-error steady-state tracking against random multi-source disturbances while preserving high real-time responsiveness and efficiency.
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