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<p>This paper presents a novel robust predictive control methodology designed to address two critical challenges in unstable dynamic systems: model uncertainties and external disturbances. Given the flying object’s static instability, the system exhibits high sensitivity to disturbances and uncertainties, necessitating an increase in control gain to mitigate this sensitivity. However, increasing the control gain may compromise stability margins or even induce system instability. The proposed approach integrates two technical innovations to achieve robust performance. First, an advanced finite-horizon predictive control framework is developed, explicitly incorporating system uncertainties into a reformulated cost function that accounts for tracking error, control energy, and system uncertainties. This formulation converts robustness challenges into computationally tractable solutions while maintaining stability margins. Second, an Active Disturbance Rejection (ADR) mechanism is designed to attenuate external disturbances and integrated with the primary control law. The hybrid method is implemented to control a time-varying, unstable flying object subjected to uncertainties. Simulation results demonstrate that the proposed method achieves superior robustness and enhanced disturbance attenuation under various uncertain conditions compared to conventional control strategies, including PID, <InlineEquation ID="IEq1"> <EquationSource Format="TEX">\(\hbox {H}_\infty \)</EquationSource> <EquationSource Format="MATHML"><math> <msub> <mtext>H</mtext> <mi>∞</mi> </msub> </math></EquationSource> </InlineEquation>, and GIPC.</p>

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A Novel Hybrid Robust Predictive Control Method with Active Disturbance Rejection

  • 期刊论文

  • 发表日期：

    2025年9月7日

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  • Mohammad Sadegh Nazari,
  • Nemat Allah Ghahremani,
  • Saeed Mohammad Hosseini

摘要

This paper presents a novel robust predictive control methodology designed to address two critical challenges in unstable dynamic systems: model uncertainties and external disturbances. Given the flying object’s static instability, the system exhibits high sensitivity to disturbances and uncertainties, necessitating an increase in control gain to mitigate this sensitivity. However, increasing the control gain may compromise stability margins or even induce system instability. The proposed approach integrates two technical innovations to achieve robust performance. First, an advanced finite-horizon predictive control framework is developed, explicitly incorporating system uncertainties into a reformulated cost function that accounts for tracking error, control energy, and system uncertainties. This formulation converts robustness challenges into computationally tractable solutions while maintaining stability margins. Second, an Active Disturbance Rejection (ADR) mechanism is designed to attenuate external disturbances and integrated with the primary control law. The hybrid method is implemented to control a time-varying, unstable flying object subjected to uncertainties. Simulation results demonstrate that the proposed method achieves superior robustness and enhanced disturbance attenuation under various uncertain conditions compared to conventional control strategies, including PID, \(\hbox {H}_\infty \) H ∞ , and GIPC.