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Active Disturbance Rejection Control for Uncertain Nonaffine-in-Control Nonlinear Systems | IEEE Journals & Magazine | IEEE Xplore

Active Disturbance Rejection Control for Uncertain Nonaffine-in-Control Nonlinear Systems


Abstract:

In this technical note, the active disturbance rejection control (ADRC) is generalized to uncertain nonaffine-in-control nonlinear systems. The proposed controller incorp...Show More

Abstract:

In this technical note, the active disturbance rejection control (ADRC) is generalized to uncertain nonaffine-in-control nonlinear systems. The proposed controller incorporates both an extended state observer (ESO) as well as a dynamic inversion. The ESO is designed to estimate system state and total uncertainty, which includes the uncertain internal dynamics and the external disturbance, and is nonaffine-in-control. Based on the output of the ESO, the dynamic inversion is used to deal with the nonaffine-in-control problem. The proposed control has a multi-time-scale structure, in which the ESO is the fastest time scale; the dynamic inversion is the second; and the considered nonlinear system is the slowest. The practical convergence of the resulting closed-loop system is obtained. An example is presented to illustrate the efficiency of the proposed method.
Published in: IEEE Transactions on Automatic Control ( Volume: 62, Issue: 11, November 2017)
Page(s): 5830 - 5836
Date of Publication: 20 December 2016

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