Predictive Active Disturbance Rejection Control for Networked Control System

Consider the impact of network delay on control system performance, a kind of control strategy of predictive ADRC (active disturbance rejection control) for NCS (networked control system) is proposed. The strategy includes two parts: prediction of network delay and improved ADRC of motor. In order to realize the accurate prediction of network delay, a delay prediction model based algorithm of CEEMD (complementary ensemble empirical mode decomposition) and LSSVM (least squares support vector machine) is proposed. The linear ADRC algorithm is used for controller of motor, and the value of predicted network delay is used as an input of controller. And a predictive PI algorithm is introduced into ADRC to realize predictive ADRC of motor. Finally, the simulation model of NCS based on predictive ADRC is established using the TrueTime toolbox, and the corresponding simulation research is carried out. Simulation results show that the strategy of predictive ADRC can more effectively improve the tracking performance of motor. The feasibility and superiority of this proposed method is proved, especially for long-delay NCS.