Quantitative analysis on the phase margin of ADRC

• Published in: Control theory and technology Vol. 21; no. 1; pp. 4 - 15
• Main Authors: Zhong, Sheng, Huang, Yi
• Format: Journal Article
• Language: English
• Published: Berlin/Heidelberg Springer Berlin Heidelberg 01-02-2023; Springer Nature B.V; Key Laboratory of Systems and Control,Academy of Mathematics and Systems Science,Chinese Academy of Sciences,Beijing 100190,China; Beijing Aerospace Automatic Control Institute,Beijing 100854,China; School of Mathematical Sciences,University of Chinese Academy of Sciences,Beijing 100049,China%Key Laboratory of Systems and Control,Academy of Mathematics and Systems Science,Chinese Academy of Sciences,Beijing 100190,China; School of Mathematical Sciences,University of Chinese Academy of Sciences,Beijing 100049,China
• Subjects: Active control; Complexity; Computational Intelligence; Control; Control and Systems Theory; Dynamic response; Engineering; Mechatronics; Motion control; Optimization; Quantitative analysis; Research Article; Robotics; State observers; Systems Theory; Active disturbance rejection control (ADRC); Uncertain system; Extended state observer (ESO); Phase margin; Crossover frequency; Extended state observer(ESO); Active disturbance rejection control(ADRC)
• ISSN: 2095-6983; 2198-0942
• DOI: 10.1007/s11768-023-00128-z

The paper analyzes and compares the phase margins of four active disturbance rejection control (ADRC) designs, which are based on different common-used extended state observers (ESOs) of various orders, for second-order systems. The quantitative results indicate that, besides good dynamic response, ADRC can guarantee enough phase margin. It is also proved that by decreasing the order of ESO, the phase margin can be increased. Furthermore, it is demonstrated that the phase margins of the ADRC-based systems can be almost uninfluenced by the uncertainties of the system parameters. Finally, the theoretical results are verified by both simulations and experiments on a motion control platform.