Phase‐Advanced ADRC: Precision Missile Attitude Control via Delay Compensation

ABSTRACT This paper proposes a measurement delay‐compensated phase‐leading linear active disturbance rejection control (MPLADRC) framework for systems subject to measurement delay, noise, and time‐varying disturbances. The core of the method is a novel measurement delay‐compensated phase‐leading extended state observer (MPLESO), which integrates a synchronized input filter to suppress noise while generating an effective phase lead to offset delay‐induced dynamics. A lead time‐constant formulation is derived to guarantee zero steady‐state error, expand disturbance estimation bandwidth, and ensure closed‐loop stability. Comprehensive simulations demonstrate that MPLADRC achieves superior disturbance rejection, faster response, and improved tracking accuracy compared with conventional LADRC, delivering consistent performance gains exceeding 35.8%.