Active disturbance rejection control to MIMO nonlinear systems with stochastic uncertainties: approximate decoupling and output-feedback stabilisation

doi:10.1080/00207179.2018.1508854

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	Active disturbance rejection control to MIMO nonlinear systems with stochastic uncertainties: approximate decoupling and output-feedback stabilisation
	Wu, Ze-Hao 1; Guo, Bao-Zhu 1,2,3
	2020-06-02
发表期刊	INTERNATIONAL JOURNAL OF CONTROL
ISSN	0020-7179
卷号	93 期号:6 页码:1408-1427
摘要	In this paper, we apply the active disturbance rejection control, an emerging control technology, to output-feedback stabilisation for a class of uncertain multi-input multi-output nonlinear systems with vast stochastic uncertainties. Two types of extended state observers (ESO) are designed to estimate both unmeasured states and stochastic total disturbance which includes unknown system dynamics, unknown stochastic inverse dynamics, external stochastic disturbance without requiring the statistical characteristics, uncertain nonlinear interactions between subsystems, and uncertainties caused by the deviation of control parameters from their nominal values. The estimations decouple approximately the system after cancelling stochastic total disturbance in the feedback loop. As a result, we are able to design an ESO-based stabilising output-feedback and prove the practical mean square stability for the closed-loop system with constant gain ESO and the asymptotic mean square stability with time-varying gain ESO, respectively. Some numerical simulations are presented to demonstrate the effectiveness of the proposed output-feedback control scheme.
关键词	Active disturbance rejection control extended state observer MIMO nonlinear systems stochastic disturbance stabilisation
DOI	10.1080/00207179.2018.1508854
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[11501108] ; Natural Science Foundation of Guangdong Province[2015A030313636] ; Project of Department of Education of Guangdong Province[2017KTSCX191] ; Project of Department of Education of Guangdong Province[2017KZDXM087] ; Project of Department of Education of Guangdong Province[2017KQNCX209]
WOS研究方向	Automation & Control Systems
WOS类目	Automation & Control Systems
WOS记录号	WOS:000537014100015
出版者	TAYLOR & FRANCIS LTD
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/51579
专题	中国科学院数学与系统科学研究院
通讯作者	Guo, Bao-Zhu
作者单位	1.Foshan Univ, Sch Math & Big Data, Foshan 528000, 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, Johannesburg, South Africa
推荐引用方式 GB/T 7714	Wu, Ze-Hao,Guo, Bao-Zhu. Active disturbance rejection control to MIMO nonlinear systems with stochastic uncertainties: approximate decoupling and output-feedback stabilisation[J]. INTERNATIONAL JOURNAL OF CONTROL,2020,93(6):1408-1427.
APA	Wu, Ze-Hao,&Guo, Bao-Zhu.(2020).Active disturbance rejection control to MIMO nonlinear systems with stochastic uncertainties: approximate decoupling and output-feedback stabilisation.INTERNATIONAL JOURNAL OF CONTROL,93(6),1408-1427.
MLA	Wu, Ze-Hao,et al."Active disturbance rejection control to MIMO nonlinear systems with stochastic uncertainties: approximate decoupling and output-feedback stabilisation".INTERNATIONAL JOURNAL OF CONTROL 93.6(2020):1408-1427.