Position angle controller based on improved active disturbance rejection

TL;DR: In this article, a position angle controller based on improved active disturbance rejection, which comprises a proportion module K, a tracking differential controller TD, a fuzzy fractional order PID, an improved extended state observer ESO and a controlled object, is presented.

Abstract: The invention discloses a position angle controller based on improved active disturbance rejection, which comprises a proportion module K, a tracking differential controller TD, a fuzzy fractional order PID, an improved extended state observer ESO and a controlled object. The output end of the proportional module K is connected with the input end of the tracking differential controller TD; the output end of the tracking differential controller TD is connected with the input end of the fuzzy fractional order PID; the output end of the fuzzy fractional order PID is connected with the input end of the extended state observer ESO; the output end of the fuzzy fractional order PID and the output end of the improved extended state observer ESO are respectively connected with the input end of thecontrolled object; and the output end of the controlled object is connected with the input end of the improved extended state observer ESO. The improved active disturbance rejection controller designed based on the novel nonlinear function has better high-frequency flutter suppression capability and better active disturbance rejection capability than a traditional controller.