Hysteresis severely reduces positioning accuracy of a piezoelectric nanopositioning system. Inverse hysteresis model-based control is difficult to maintain satisfied performance in presence of uncertainties and disturbances. Linear active disturbance rejection control (LADRC) is a practical approach. However, phase lag of the total disturbance estimation degrades its estimation ability and tracking performance. In this work, a phase-leading extended state observer (PLESO) is constructed by adding a phase-leading network to a linear extended state observer. Advantage of the PLESO on estimating the time-varying total disturbance is analyzed, and influence of the multiplication factor introduced by a PLESO is also discussed. By a leading phase provided by the PLESO, the phase-leading active disturbance rejection control (PLADRC) can compensate the total disturbance timelier, and more satisfied positioning can be guaranteed. Experimental results show that the PLADRC is superior to the LADRC in terms of dynamic responses and disturbance rejection. Without introducing nonlinearities or increasing the order, the PLESO provides an effective way to enhance the active disturbance rejection control (ADRC).

滞后严重降低了压电纳米定位系统的定位精度。在存在不确定性和干扰的情况下，基于逆滞后模型的控制难以保持令人满意的性能。线性自抗扰控制 (LADRC) 是一种实用的方法。然而，总扰动估计的相位滞后会降低其估计能力和跟踪性能。在这项工作中，通过向线性扩展状态观察器添加相位超前网络来构建相位超前扩展状态观察器（PLESO）。分析了PLESO在估计时变总扰动方面的优势，讨论了PLESO引入的倍增因子的影响。通过PLESO提供的领先阶段，相位超前自抗扰控制（PLADRC）可以更及时地补偿总扰动，保证更满意的定位。实验结果表明，PLADRC 在动态响应和抗扰性方面优于 LADRC。在不引入非线性或增加阶数的情况下，PLESO 提供了一种增强自抗扰控制 (ADRC) 的有效方法。