论文标题
输出和错误形式的ADRC：连接，等价，性能
ADRC in Output and Error Form: Connection, Equivalence, Performance
论文作者
论文摘要
在这项工作中，我们研究了两个特定的线性ADRC结构，即基于输出和错误。前者被认为是ADRC的“标准”版本，该标题主要是由于其简单性和有效性而获得的，这促使其在多个行业中采用。发现后者对从业者特别有吸引力，因为其反馈错误驱动的结构与常规控制解决方案（如PI和PID）相似。在本文中，我们描述了两个考虑的ADRC结构之间新发现的联系，这使我们能够正式建立其等效性的条件。此外，基于输出和基于错误的ADRC之间进行的全面性能比较促进了它们内部特定模块的识别，现在可以方便地将其用作构件，从而帮助控制设计师自定义基于ADRC的解决方案并使其最适合其应用程序。
In this work, we investigate two specific linear ADRC structures, namely output- and error-based. The former is considered a 'standard' version of ADRC, a title obtained primarily thanks to its simplicity and effectiveness, which have spurred its adoption across multiple industries. The latter is found to be especially appealing to practitioners as its feedback error-driven structure bares similarities to conventional control solutions, like PI and PID. In this paper, we describe newly found connections between the two considered ADRC structures, which allowed us to formally establish conditions for their equivalence. Furthermore, the conducted comprehensive performance comparison between output- and error-based ADRCs has facilitated the identification of specific modules within them, which can now be conveniently used as building blocks, thus aiding the control designers in customizing ADRC-based solutions and making them most suitable for their applications.
