Active disturbance rejection control synthesis for industrial time-delayed process: an observation reconfiguration...

Area of Science:

• Control Engineering
• Systems Science
• Robotics

Background:

• Traditional active disturbance rejection control (ADRC) struggles with uncertain delays and sinusoidal disturbances in time-delayed processes.
• These challenges can lead to instability and performance degradation in control systems.
• Existing methods lack a unified approach to address these specific control issues.

Purpose of the Study:

• To develop a robust active disturbance rejection control (ADRC) strategy for time-delayed processes.
• To address challenges posed by uncertain delays and sinusoidal disturbances.
• To enhance system stability and performance through a novel observation reconfiguration (OR) perspective.

Main Methods:

• Developed a basic ADRC with a reduced-order model-driven extended state observer.
• Introduced a filter-based observation reconfiguration (OR) module to enhance delay robustness by reshaping frequency-domain characteristics.
• Augmented the observer with resonant dynamics for sinusoidal disturbance compensation and utilized a delay block for phase shift correction.

Main Results:

• The proposed method demonstrates enhanced robustness against uncertain delays and sinusoidal disturbances.
• Comparative simulations confirmed the effectiveness of the observation reconfiguration (OR) strategy.
• Experimental validation on an industrial platform confirmed practical applicability and promising performance.

Conclusions:

• The unified observation reconfiguration (OR) perspective offers a robust solution for ADRC in time-delayed systems.
• The proposed method effectively mitigates instability and performance degradation caused by delays and disturbances.
• This approach holds significant promise for practical applications in industrial control systems.