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This paper engages the predictive extended state observer (ESO)-based active disturbance rejection control (ADRC) method to estimate and compensate for parameter perturbations in control systems with time delay. This is important because such variations are certain in real-world control plants (systems). In most systems, time delays and disturbances further challenge the controller system’s operation, necessitating a balance between controller performance (transient response) and disturbance rejection operations. Thus, this paper focuses on performance analysis in a specific area of disturbance rejection pertaining to parameter perturbation present in a predictive ESO-based ADRC (PESO-ADRC) control system. Experimental analysis is performed on different systems using the PESO-ADRC method and compared with state-of-the-art methods, such as the delay-based ADRC and the extended state predictor observer (ESPO)-based controller methods. It is observed that the PESO-based ADRC outperformed the delay-based ADRC and ESPO-based controllers by showing tolerance to disturbances, faster estimation, and compensation of parameter perturbation under time-delay control. This predictive method can be used to control the future operations of robotic applications.

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Mitigating the Time Delay and Parameter Perturbation by a Predictive Extended State Observer-Based Active Disturbance Rejection Control

  • 会议论文

  • 发表日期：

    2025年

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  • Syeda Nadiah Fatima Nahri,
  • Shengzhi Du,
  • Barend J. van Wyk,
  • Tawanda Denzel Nyasulu

摘要

This paper engages the predictive extended state observer (ESO)-based active disturbance rejection control (ADRC) method to estimate and compensate for parameter perturbations in control systems with time delay. This is important because such variations are certain in real-world control plants (systems). In most systems, time delays and disturbances further challenge the controller system’s operation, necessitating a balance between controller performance (transient response) and disturbance rejection operations. Thus, this paper focuses on performance analysis in a specific area of disturbance rejection pertaining to parameter perturbation present in a predictive ESO-based ADRC (PESO-ADRC) control system. Experimental analysis is performed on different systems using the PESO-ADRC method and compared with state-of-the-art methods, such as the delay-based ADRC and the extended state predictor observer (ESPO)-based controller methods. It is observed that the PESO-based ADRC outperformed the delay-based ADRC and ESPO-based controllers by showing tolerance to disturbances, faster estimation, and compensation of parameter perturbation under time-delay control. This predictive method can be used to control the future operations of robotic applications.