An Enhanced Anti-Disturbance Control Approach for Systems Subject to Multiple Disturbances

In order to improve system control performances, a novel enhanced anti-disturbance control (EADC) scheme is proposed in this paper for systems subject to multiple disturbances. Combining active disturbance rejection control (ADRC) and disturbance-observer-based control (DOBC) enables the developed EADC. Both the differentiable disturbance and the disturbances with exogenous models are considered. More specifically, the differentiable disturbance is estimated and then rejected with the aid of extended state observer (ESO), while the disturbances with exogenous models are estimated by the disturbance observers (DOs). When comparing to either ADRC or DOBC, the anti-disturbance capability of EADC can be further improved. Moreover, it should be noted that the proposed EADC can be seen as either traditional ADRC or DOBC when only one type of disturbance is present. Simulation results are given to demonstrate the effectiveness of proposed EADC method.