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<p>To tackle the overshoot phenomenon in linear active disturbance rejection control (LADRC), this paper proposes a composite saturation-enhanced control strategy. Firstly, an error-based extended state observer (ESO) is designed to estimate the total disturbances in real time eliminating the need for high-order derivatives of reference signals. Secondly, a saturation-constrained control strategy is proposed to mitigate the overshoot phenomenon in the initial phase. Thirdly, the global exponential convergence of the closed-loop system with nonlinear disturbances is rigorously analyzed via Lyapunov stability theory. Finally, two sets of comparative experiments are conducted to demonstrate the control performance of the proposed method. The first set is performed with additional disturbances, while the second set is conducted without additional disturbances. Both results demonstrate that compared to LADRC and PID control, the saturated ADRC can effectively suppress overshoot phenomena.</p>

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Saturation-Based Active Disturbance Rejection Control for Nonlinear Uncertain Systems

  • 期刊论文

  • 发表日期：

    2026年4月7日

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  • Jiaxin Liu,
  • Sen Chen,
  • Dengkui Li

摘要

To tackle the overshoot phenomenon in linear active disturbance rejection control (LADRC), this paper proposes a composite saturation-enhanced control strategy. Firstly, an error-based extended state observer (ESO) is designed to estimate the total disturbances in real time eliminating the need for high-order derivatives of reference signals. Secondly, a saturation-constrained control strategy is proposed to mitigate the overshoot phenomenon in the initial phase. Thirdly, the global exponential convergence of the closed-loop system with nonlinear disturbances is rigorously analyzed via Lyapunov stability theory. Finally, two sets of comparative experiments are conducted to demonstrate the control performance of the proposed method. The first set is performed with additional disturbances, while the second set is conducted without additional disturbances. Both results demonstrate that compared to LADRC and PID control, the saturated ADRC can effectively suppress overshoot phenomena.