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

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• 作者：Bao-Zhu Guo^a ; ^b ; Ze-Hao Wu^a ; ^{zehaowu@amss.ac.cn}
• 关键词：Active disturbance rejection control ; Output tracking ; Extended state observer ; Mismatched uncertainty
• 刊名：Systems & Control Letters
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：100
• 期：Complete
• 页码：21-31
• 全文大小：1310 K
• 卷排序：100

文摘

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.