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IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2024  > In Press, Accepted Manuscript
A. T.-E. Benyahia, M. Stanković, R. Madonski, O. Babayomi, and S. M. Manojlović, “Improving control performance by cascading observers: Case of ADRC with cascade ESO,” IEEE/CAA J. Autom. Sinica, 2024. doi: 10.1109/JAS.2024.124995
Citation: A. T.-E. Benyahia, M. Stanković, R. Madonski, O. Babayomi, and S. M. Manojlović, “Improving control performance by cascading observers: Case of ADRC with cascade ESO,” IEEE/CAA J. Autom. Sinica, 2024. doi: 10.1109/JAS.2024.124995
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Improving Control Performance by Cascading Observers: Case of ADRC with Cascade ESO

doi: 10.1109/JAS.2024.124995
Funds:  The work was partially supported by the project of the University of Defence in Belgrade, Serbia (grant no. VA/TT/1/25-27).
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    Abstract
  • In this paper, we show the performance benefits of connecting multiple observers within a control system. We focus here on a particular observer-based control approach, namely the active disturbance rejection control (ADRC) with cascade extended state observer (ESO). For this framework, we analyze the control performance in terms of quality of observer estimation, reference tracking, disturbance rejection, sensitivity to measurement noise/unmodeled dynamics, and overall stability. A comprehensive frequency response analysis is performed to study the influence of cascading the observers on the selected quality criteria. To make the inquiry beneficial also to practitioners, FPGA-in-the-loop tests are conducted using a guided missiles gimbaled seeker. They validate the theoretical findings in discrete-time settings, where the sampling time and hardware resource requirements become a factor. The results of the investigation are distilled into guidelines for prospective users on when and how a cascade observer structure can be useful for controls.

     

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    • 1 The linearized plant model is only used to derive the observer/controller whereas the experiments are conducted on the actual, complex plant that has the cross-coupling nonlinear dynamics.
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