A Compound Scheme Based on Improved ADRC and Nonlinear Compensation for Electromechanical Actuator

A compound scheme, based on an improved active disturbance rejection controller (ADRC) and nonlinear compensation, is developed for the electromechanical actuator (EMA) system in this paper. First, considering influences of backlash, friction EMA system, a model presented. The LuGre Hysteresis inverse are used to compensate backlash phenomenon. Then, method ADRC, Fal function filter Linear extended state observer (LESO), investigated. Simultaneously, since parameters ADRC complicated, non-dominated sorting genetic algorithm II (NSGA-II) presented optimize parameters, achieve best dynamic response. Finally, simulation experiment validate effectiveness proposed method. Under performance scheme compared with conventional proportional integral (PI) controller, terms step response analysis sine wave analysis. Simulation experiments show that provides high-performance characteristics.