Nonlinear Extended State Observer based Active Disturbance Rejection Control of a Laser Seeker System

Abdellah Ferdjali; Taki Eddine Lechekhab; Stojadin Manojlović; Momir Stanković; Rafal Madonski; Dimitrije Bujakovic

doi:10.14429/dsj.71.15798

Abdellah Ferdjali Military academy, University of Defence, Belgrade https://orcid.org/0000-0002-1748-1715
Taki Eddine Lechekhab Military academy, University of Defence, Belgrade https://orcid.org/0000-0001-5844-1982
Stojadin Manojlović Military academy, University of Defence, Belgrade https://orcid.org/0000-0003-1268-5310
Momir Stanković Military academy, University of Defence, Belgrade https://orcid.org/0000-0001-8371-9341
Rafal Madonski International Energy College, Jinan University, Guangzhou https://orcid.org/0000-0002-1798-0717
Dimitrije Bujakovic Military academy, University of Defence, Belgrade https://orcid.org/0000-0001-7058-9293

DOI: https://doi.org/10.14429/dsj.71.15798

Keywords: Active disturbance rejection control; ADRC; Nonlinear extended state observer; NESO; Laser seeker control

Abstract

In this paper, the laser seeker control problem is solved in the framework of active disturbance rejection control (ADRC). The considered problem, which consists of laser seeker stabilisation and target tracking, is expressed here as a regulation problem. A nonlinear extended state observer (NESO) with varying gains is used to improve the performance of linear ESO (LESO), and thus enable better control performance in both transient period and steady-state, with lower control effort. Based on a detailed analysis of system disturbances, a special ADRC tuning method is proposed. The stability of the overall control structure is analysed with a description function method. Through comparative simulations LESO-based and the introduced NESO-based ADRC for the laser seeker system, the advantages of the proposed scheme are shown.