Friction disturbance model-based enhancement and optimization of active disturbance rejection controller for optoelectronic mechanical platforms

Abstract This paper proposes an enhanced active disturbance rejection sliding mode tracking differentiator, which ensures the rapid state convergence of optoelectronic mechanical platforms under frictional disturbances by reconstructing the optimal synthesis function into the optimal sliding mode control synthesis function. To cope with the low stability of the active disturbance rejection controller caused by deviations in the prescribed parameters, a globally oriented parameter identification scheme is developed by the Newton–Raphson optimized sparrow search algorithm, so that the globally optimal solution of the controller parameters can be obtained iteratively. Furthermore, disturbance observer is employed to perform real-time estimation of the constructed friction disturbance model and to implement feedback compensation within active disturbance rejection control, thereby enhancing the disturbance rejection capability of the system. The effectiveness of the proposed method on the optoelectronic mechanical platform is validated experimentally, and the system exhibits strong adaptability, particularly in the presence of frictional disturbances.