On Stability and Robustness of Linear Active Disturbance Rejection Control:A Small Gain Theorem Approach

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• 英文论文题名：On Stability and Robustness of Linear Active Disturbance Rejection Control:A Small Gain Theorem Approach
• 论文作者：Huiyu Jin ; Lili Liu ; Weiyao Lan ; Jianping Zeng
• 英文论文作者：Huiyu Jin ; Lili Liu ; Weiyao Lan ; Jianping Zeng ; School of Aerospace ; Xiamen University
• 年：2017
• 作者机构：School of Aerospace,Xiamen University;
• 英文论文关键词：Stability ; Robustness ; Linear active disturbance rejection control ; Small gain theorem ; Parametric uncertainty ; Observer bandwidth
• 会议召开时间：2017-07-26
• 会议录名称：第36届中国控制会议论文集（B）
• 英文会议录名称：Proceedings of the 36th Chinese Control Conference（B）
• 语种：英文
• 分类号：TP273
• 学会代码：KZLL
• 会议名称：第36届中国控制会议
• 会议地点：中国辽宁大连
• 主办单位：中国自动化学会控制理论专业委员会
• 学会名称：中国自动化学会控制理论专业委员会
• 页数：6
• 文件大小：190k
• 原文格式：D
• 会议级别：全国

摘要

Small gain theorem is used to interpret stability and robustness of linear active disturbance rejection control(LADRC).For the case linear unmodeled dynamic and additive external disturbance, LADRC system is decomposed into two interconnected subsystems. The first subsystem includes all parametric uncertainty of the plant, while the second has a gain which can be adjusted by choosing the parameters of LADRC. If the product of the two subsytems' gains is less than one, then LADRC is stabilizing and robust against parametric variant. Furthermore, tuning observer bandwidth is interpreted as an approach to adjust the second subsystem's gain when the parameters of the plant is unknown. And it is proved that when the observer bandwidth is large enough, the second subsystem's gain is small enough so that LADRC is stabilizing.
Small gain theorem is used to interpret stability and robustness of linear active disturbance rejection control(LADRC).For the case linear unmodeled dynamic and additive external disturbance, LADRC system is decomposed into two interconnected subsystems. The first subsystem includes all parametric uncertainty of the plant, while the second has a gain which can be adjusted by choosing the parameters of LADRC. If the product of the two subsytems' gains is less than one, then LADRC is stabilizing and robust against parametric variant. Furthermore, tuning observer bandwidth is interpreted as an approach to adjust the second subsystem's gain when the parameters of the plant is unknown. And it is proved that when the observer bandwidth is large enough, the second subsystem's gain is small enough so that LADRC is stabilizing.

引文

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