Output tracking for a class of nonlinear systems with mismatched uncertainties by active disturbance rejection control

doi:10.1016/j.sysconle.2016.12.002

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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-Hao 1
	2017-02-01
发表期刊	SYSTEMS & CONTROL LETTERS
ISSN	0167-6911
卷号	100 页码:21-31
摘要	In 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.
关键词	Active disturbance rejection control Output tracking Extended state observer Mismatched uncertainty
DOI	10.1016/j.sysconle.2016.12.002
语种	英语
资助项目	National Natural Science Foundation of China[61273129] ; National Research Foundation of South Africa
WOS研究方向	Automation & Control Systems ; Operations Research & Management Science
WOS类目	Automation & Control Systems ; Operations Research & Management Science
WOS记录号	WOS:000394190900004
出版者	ELSEVIER SCIENCE BV
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/25045
专题	系统科学研究所
通讯作者	Wu, Ze-Hao
作者单位	1.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
推荐引用方式 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.