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<p>In this paper, a method of robust optimal active disturbance rejection controller (ADRC) design based on the structural improvement of the extended state observer (ESO) is proposed. The novelty of the paper is to design a robust ADRC that can guarantee finite-time asymptotic convergence and maintain minimum estimation error based on nonsingular fast terminal super-twisting algorithm (NFTSTA) and perform its optimization by particle swarm optimization-difference evolutionary (PSO-DE) hybrid intelligent algorithm. The comprehensive simulation results showed that the proposed method is very effective. The practical verification through attitude stabilization control of a quadrotor showed that the control accuracy is ± 0.38° when the proposed method is applied. It is well shown that the proposed control algorithm can be fully applied to high-precision controls.</p>

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Research on optimal robust active disturbance rejection control based on nonsingular fast terminal super-twisting extended state observer

  • 期刊论文

  • 发表日期：

    2026年4月8日

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  • Kwang Choe,
  • Song-Mu Kim,
  • Su-Yong Paek,
  • Sun-Yong Ri,
  • Chol-Jun Hwang

摘要

In this paper, a method of robust optimal active disturbance rejection controller (ADRC) design based on the structural improvement of the extended state observer (ESO) is proposed. The novelty of the paper is to design a robust ADRC that can guarantee finite-time asymptotic convergence and maintain minimum estimation error based on nonsingular fast terminal super-twisting algorithm (NFTSTA) and perform its optimization by particle swarm optimization-difference evolutionary (PSO-DE) hybrid intelligent algorithm. The comprehensive simulation results showed that the proposed method is very effective. The practical verification through attitude stabilization control of a quadrotor showed that the control accuracy is ± 0.38° when the proposed method is applied. It is well shown that the proposed control algorithm can be fully applied to high-precision controls.