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The selection criterion of nominal model in active disturbance rejection control for non-affine uncertain systems
Chen, Sen1,2,3; Huang, Yi2,3
2020-04-01
Source PublicationJOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
ISSN0016-0032
Volume357Issue:6Pages:3365-3386
AbstractThe active disturbance rejection control (ADRC) for uncertain systems with non-affine control input is studied in the paper. Considering a wide class of uncertainties, the necessary and sufficient condition of the nominal model for the stability of the ADRC based closed-loop system is explicitly presented, which illustrates the basic selection criterion of the nominal model for control systems. Under this proposed condition, the satisfactory transient performance can be ensured by the ADRC design. Via tuning the parameter of the extended state observer (ESO), the tracking error can be bounded in a prescribed range in the entire time domain, and the estimating error will exponentially approach a set bounded by the parameter of ESO. The tuning law of controller's parameters can be further summarized that the feedback gain determines the convergence rate of the design trajectory and the parameter of ESO contributes to the capability of disturbance rejection. Furthermore, the closed-loop system is proved to be semi-global asymptotically stable, which guarantees the steady state performance. The simulations for attitude control of flight vehicles demonstrate the theoretical results. (C) 2019 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
DOI10.1016/j.jfranklin.2019.12.023
Indexed BySCI
Language英语
Funding ProjectNational Center for Mathematics and Interdisciplinary of Sciences, Chinese Academy of Sciences
WOS Research AreaAutomation & Control Systems ; Engineering ; Mathematics
WOS SubjectAutomation & Control Systems ; Engineering, Multidisciplinary ; Engineering, Electrical & Electronic ; Mathematics, Interdisciplinary Applications
WOS IDWOS:000569854000001
PublisherPERGAMON-ELSEVIER SCIENCE LTD
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Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/52185
Collection中国科学院数学与系统科学研究院
Corresponding AuthorHuang, Yi
Affiliation1.Shaanxi Normal Univ, Sch Math & Informat Sci, Xian 710119, Shaanxi, Peoples R China
2.Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
3.Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China
Recommended Citation
GB/T 7714
Chen, Sen,Huang, Yi. The selection criterion of nominal model in active disturbance rejection control for non-affine uncertain systems[J]. JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS,2020,357(6):3365-3386.
APA Chen, Sen,&Huang, Yi.(2020).The selection criterion of nominal model in active disturbance rejection control for non-affine uncertain systems.JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS,357(6),3365-3386.
MLA Chen, Sen,et al."The selection criterion of nominal model in active disturbance rejection control for non-affine uncertain systems".JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 357.6(2020):3365-3386.
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