中文摘要：

结合自抗扰（ADRC）和生物免疫的控制思想设计了免疫ADRC控制器。设计的免疫ADRC控制器保留了传统ADRC控制器的结构,并运用生物免疫机制实现了自抗扰控制器中非线性状态误差反馈（NLSEF）的参数自整定。这样设计的控制器可以提高传统控制系统的抗干扰能力,优化了控制器性能。设计的免疫ADRC算法可适用于N阶对象,仿真部分以二阶运动模型为例。仿真实验表明,免疫ADRC既可以保存传统ADRC快速跟踪和有效观测的优点,又能在此基础上增强系统的抗扰能力,提高了系统的稳定性。

英文摘要：

A controller combining the idea of an immune controller （IC） and an active disturbance rejection controller （ADRC） has been designed and is denoted as an immune ADRC. Parameters for self-tuning of the nonlinear state error feedback （NLSEF） can be implemented using the designed Immune ADRC controller, in which all the parts of traditional ADRC controller are retained. In this way, the designed controller can improve the disturbance rejection capability of the control system, as well as optimize the performance of the controller, The immune ADRC algorithm can be also be applied to higher order systems. A second order motion model was used in simulations. The simulation results demonstrate that the immune ADRC not only retains the advantages of a traditional ADRC, such as fast-tracking and available observation, but also offers better performances in terms of disturbance rejection and improves the stability of the system.