Input channel gain adaptive active disturbance rejection control based on robust adaptive finite-time parameter estimation

This paper presents a novel input channel gain adaptive active disturbance rejection control (ICGA-ADRC) framework for the nonlinear control system with large load variation. This paper first introduces the design of ICGA-ADRC and proves its stability through the rigorous Lyapunov approach. Subsequently, the proposed controller is simulated by subjecting it to a nonlinear mass-spring-damping system characterized by significant load variations. Furthermore, the position-tracking performance of the controller is tested experimentally by using a motor-driven pendulum system with various loads. Finally, the results of both simulations and experiments show that the ICGA-ADRC is capable of compensating for system model uncertainty and external perturbation while accurately estimating the system input channel gain in real-time. The innovation of this paper is that the robustness of active disturbance rejection control (ADRC) to the system load variation is significantly strengthened by integrating robust adaptive finite-time parameter estimation method into the conventional ADRC control architecture.