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Output tracking for a class of nonlinear systems with mismatched uncertainties by active disturbance rejection control
Guo, Bao-Zhu1,2; Wu, Ze-Hao1
2017-02-01
Source PublicationSYSTEMS & CONTROL LETTERS
ISSN0167-6911
Volume100Pages:21-31
AbstractIn this paper, we apply active disturbance rejection control, an emerging control technology, to achieve practical output tracking for a class of nonlinear systems in the presence of vast matched and mismatched uncertainties including unknown internal system dynamic uncertainty, external disturbance, and uncertainty caused by the deviation of control parameter from its nominal value. The total disturbance influencing the performance of controlled output is refined first and then estimated by an extended state observer (ESO). Under the assumption that the inverse dynamics of the uncertain systems are bounded input -bounded-state stable, a constant high gain ESO based output feedback is constructed to guarantee that the state is bounded and the output tracks practically a given reference signal. A time-varying gain ESO is also discussed to reduce the peaking value near the initial stages of ESO caused by constant high gain. Numerical simulations are presented to demonstrate the effectiveness of the proposed output feedback control scheme. (C) 2016 Elsevier B.V. All rights reserved.
KeywordActive disturbance rejection control Output tracking Extended state observer Mismatched uncertainty
DOI10.1016/j.sysconle.2016.12.002
Language英语
Funding ProjectNational Natural Science Foundation of China[61273129] ; National Research Foundation of South Africa
WOS Research AreaAutomation & Control Systems ; Operations Research & Management Science
WOS SubjectAutomation & Control Systems ; Operations Research & Management Science
WOS IDWOS:000394190900004
PublisherELSEVIER SCIENCE BV
Citation statistics
Cited Times:15[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/25045
Collection系统科学研究所
Affiliation1.Acad Sinica, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
2.Univ Witwatersrand, Sch Comp Sci & Appl Math, ZA-2050 Johannesburg, Johannesburg, South Africa
Recommended Citation
GB/T 7714
Guo, Bao-Zhu,Wu, Ze-Hao. Output tracking for a class of nonlinear systems with mismatched uncertainties by active disturbance rejection control[J]. SYSTEMS & CONTROL LETTERS,2017,100:21-31.
APA Guo, Bao-Zhu,&Wu, Ze-Hao.(2017).Output tracking for a class of nonlinear systems with mismatched uncertainties by active disturbance rejection control.SYSTEMS & CONTROL LETTERS,100,21-31.
MLA Guo, Bao-Zhu,et al."Output tracking for a class of nonlinear systems with mismatched uncertainties by active disturbance rejection control".SYSTEMS & CONTROL LETTERS 100(2017):21-31.
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