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An active disturbance rejection approach based on signal processing

Abstract:

A digital signal processing approach to estimate and reject disturbances under an active disturbance rejection control (ADRC) methodology is presented. In this paper a technique to assess the current values of the disturbance based on the previous input and output signals is developed. The on-line disturbance estimation is made through the use of a polynomial least squares regression. An excess in the number of data over the order of the polynomial regression is proposed in order to obtain a low pass filter. This estimation allows to simplify the control design in to a linear one. Corresponding performance, stability and robustness are analyzed. The propose approach is tested via numerical simulation in a trajectory tracking task under perturbed linear and nonlinear differentially flat systems. The simulations showed that the technique presented to estimate disturbances is successful in its application to active …