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Article

Novel Active Disturbance Rejection Control Based on Nested Linear Extended State Observers

1
Department of Electrical Engineering, College of Engineering, University of Baghdad, Al-Jadriyah, Baghdad 10001, Iraq
2
Robotics and Internet-of-Things Lab (RIOTU), Prince Sultan University, Riyadh 11586, Saudi Arabia
3
Faculty of Computers and Artificial Intelligence, Benha University, Benha 13518, Egypt
4
Department of Control and Systems Engineering, University of Technology, Baghdad 10001, Iraq
*
Author to whom correspondence should be addressed.
Appl. Sci. 2020, 10(12), 4069; https://doi.org/10.3390/app10124069
Received: 13 April 2020 / Revised: 5 June 2020 / Accepted: 8 June 2020 / Published: 12 June 2020
(This article belongs to the Special Issue Nonlinear Control: Theory and Applications)
In this paper, a Novel Active Disturbance Rejection Control (N-ADRC) strategy is proposed that replaces the Linear Extended State Observer (LESO) used in Conventional ADRC (C-ADRC) with a nested LESO. In the nested LESO, the inner-loop LESO actively estimates and eliminates the generalized disturbance. Increasing the bandwidth improves the estimation accuracy which may tolerate noise and conflict with H/W limitations and the sampling frequency of the system. Therefore, an alternative scenario is offered without increasing the bandwidth of the inner-loop LESO provided that the rate of change of the generalized disturbance estimation error is upper bounded. This was achieved by the placing of an outer-loop LESO in parallel with the inner one that estimates and eliminates the remaining generalized disturbance originating from the inner-loop LESO due to bandwidth limitations. The stability of LESO and nested LESO was investigated using Lyapunov stability analysis. Simulations on uncertain nonlinear single-input-single-output (SISO) system with time-varying exogenous disturbance revealed that the proposed nested LESO could successfully deal with a generalized disturbance in both noisy and noise-free environments, where the Integral Time Absolute Error (ITAE) of the tracking error for the nested LESO was reduced by 69.87% from that of the LESO. View Full-Text
Keywords: nested extended state observer; generalized disturbance; system uncertainties; linear extended state observer; active disturbance rejection control; Lyapunov stability nested extended state observer; generalized disturbance; system uncertainties; linear extended state observer; active disturbance rejection control; Lyapunov stability
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MDPI and ACS Style

Abdul-Adheem, W.R.; Azar, A.T.; Ibraheem, I.K.; Humaidi, A.J. Novel Active Disturbance Rejection Control Based on Nested Linear Extended State Observers. Appl. Sci. 2020, 10, 4069. https://doi.org/10.3390/app10124069

AMA Style

Abdul-Adheem WR, Azar AT, Ibraheem IK, Humaidi AJ. Novel Active Disturbance Rejection Control Based on Nested Linear Extended State Observers. Applied Sciences. 2020; 10(12):4069. https://doi.org/10.3390/app10124069

Chicago/Turabian Style

Abdul-Adheem, Wameedh Riyadh, Ahmad Taher Azar, Ibraheem Kasim Ibraheem, and Amjad J. Humaidi. 2020. "Novel Active Disturbance Rejection Control Based on Nested Linear Extended State Observers" Applied Sciences 10, no. 12: 4069. https://doi.org/10.3390/app10124069

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