Active disturbance rejection control approach to stabilization of lower triangular systems with uncertainty

doi:10.1002/rnc.3414

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	Active disturbance rejection control approach to stabilization of lower triangular systems with uncertainty
	Zhao, Zhi-Liang 1; Guo, Bao-Zhu2,3
	2016-07-25
发表期刊	INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
ISSN	1049-8923
卷号	26 期号:11 页码:2314-2337
摘要	In this paper, we apply the active disturbance rejection control (ADRC) to stabilization for lower triangular nonlinear systems with large uncertainties. We first design an extended state observer (ESO) to estimate the state and the uncertainty, in real time, simultaneously. The constant gain and the time-varying gain are used in ESO design separately. The uncertainty is then compensated in the feedback loop. The practical stability for the closed-loop system with constant gain ESO and the asymptotic stability with time-varying gain ESO are proven. The constant gain ESO can deal with larger class of nonlinear systems but causes the peaking value near the initial stage that can be reduced significantly by time-varying gain ESO. The nature of estimation/cancelation makes the ADRC very different from high-gain control where the high gain is used in both observer and feedback. Copyright (C) 2015 John Wiley & Sons, Ltd.
关键词	active disturbance rejection control nonlinear systems uncertainty
DOI	10.1002/rnc.3414
语种	英语
资助项目	National Natural Science Foundations of China[61403242] ; Fundamental Research Funds for the Central Universities[GK201402003]
WOS研究方向	Automation & Control Systems ; Engineering ; Mathematics
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Mathematics, Applied
WOS记录号	WOS:000379935700003
出版者	WILEY-BLACKWELL
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/23200
专题	系统科学研究所
通讯作者	Guo, Bao-Zhu
作者单位	1.Shaanxi Normal Univ, Sch Math & Informat Sci, Xian 710062, Shaanxi, Peoples R China 2.Acad Sinica, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China 3.Univ Witwatersrand, Sch Comp Sci & Appl Math, ZA-2050 Johannesburg, Johannesburg, South Africa
推荐引用方式 GB/T 7714	Zhao, Zhi-Liang,Guo, Bao-Zhu. Active disturbance rejection control approach to stabilization of lower triangular systems with uncertainty[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,2016,26(11):2314-2337.
APA	Zhao, Zhi-Liang,&Guo, Bao-Zhu.(2016).Active disturbance rejection control approach to stabilization of lower triangular systems with uncertainty.INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,26(11),2314-2337.
MLA	Zhao, Zhi-Liang,et al."Active disturbance rejection control approach to stabilization of lower triangular systems with uncertainty".INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 26.11(2016):2314-2337.