Li Dazi, Ding Pan, Gao Zhiqiang
Institute of Automation, Beijing University of Chemical Technology, Beijing 100029, PR China.
Institute of Automation, Beijing University of Chemical Technology, Beijing 100029, PR China.
ISA Trans. 2016 May;62:109-19. doi: 10.1016/j.isatra.2016.01.022. Epub 2016 Feb 28.
A fractional active disturbance rejection control (FADRC) scheme is proposed to improve the performance of commensurate linear fractional order systems (FOS) and the robust analysis shows that the controller is also applicable to incommensurate linear FOS control. In FADRC, the traditional extended states observer (ESO) is generalized to a fractional order extended states observer (FESO) by using the fractional calculus, and the tracking differentiator plus nonlinear state error feedback are replaced by a fractional proportional-derivative controller. To simplify controller tuning, the linear bandwidth-parameterization method has been adopted. The impacts of the observer bandwidth ωo and controller bandwidth ωc on system performance are then analyzed. Finally, the FADRC stability and frequency-domain characteristics for linear single-input single-output FOS are analyzed. Simulation results by FADRC and ADRC on typical FOS are compared to demonstrate the superiority and effectiveness of the proposed scheme.
提出了一种分数阶自抗扰控制（FADRC）方案，以提高同阶线性分数阶系统（FOS）的性能，鲁棒性分析表明该控制器也适用于非等阶线性FOS控制。在FADRC中，通过使用分数阶微积分将传统的扩张状态观测器（ESO）推广为分数阶扩张状态观测器（FESO），并将跟踪微分器加非线性状态误差反馈替换为分数阶比例-微分控制器。为简化控制器调整，采用了线性带宽参数化方法。然后分析了观测器带宽ωo和控制器带宽ωc对系统性能的影响。最后，分析了线性单输入单输出FOS的FADRC稳定性和频域特性。比较了FADRC和ADRC对典型FOS的仿真结果，以证明所提方案的优越性和有效性。
