Robust Improvement of Integrated Position and Speed Control using Linear Active Disturbance Rejection Control

In this paper, a integrated position and speed control (IPSC) is improved. IPSC controls an object by speed control when the deviation is large and it is switched to position control when the deviation is small. IPSC prevents the saturation of the integrator in the controller. However, the conventional IPSC is not robust against disturbances and model errors. To overcome the disadvantage, we propose IPSC with Linear Active Disturbance Rejection Control (LADRC). Because LADRC has a simple structure and it can cancel both disturbances and model errors effectively, the proposed method improves robustness of IPSC. Simulation and experimental results verify the robustness of the proposed method against disturbances and model errors.