Design and analysis of active disturbance rejection control for time-delay systems using frequency-sweeping  

作　　者：WANG Yongshuai CHEN Zengqiang SUN Mingwei SUN Qinglin 

机构地区：[1]College of Artificial Intelligence,Nankai University,Tianjin 300350,China [2]Key Laboratory of Intelligent Robotics of Tianjin,Tianjin 300350,China

出　　处：《Journal of Systems Engineering and Electronics》2023年第2期479-491,共13页系统工程与电子技术（英文版）

基　　金：supported by the National Natural Science Foundation of China(61973175,61973172,62073177);the Key Technologies R&D Program of Tianjin(19JCZDJC32800);Tianjin Research Innovation Project for Postgraduate Students(2020YJSZXB02).

摘　　要：For the typical first-order systems with time-delay,this paper explors the control capability of linear active disturbance rejection control(LADRC).Firstly,the critical time-delay of LADRC is analyzed using the frequency-sweeping method and the Routh criterion,and the stable time-delay interval starting from zero is accurately obtained,which reveals the limitations of general LADRC on large time-delay.Then in view of the large time-delay,an LADRC controller is developed and verified to be effective,along with the robustness analysis.Finally,numerical simulations show the accuracy of critical time-delay,and demonstrate the effectiveness and robustness of the proposed controller compared with other modified LADRCs.

关 键 词：active disturbance rejection control frequencysweeping method critical time-delay Routh criterion system with large time-delay 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]