A Novel Extended State Observer for Output Tracking of MIMO Systems With Mismatched Uncertainty

Zhao, Zhi‐Liang; Guo, Bao‐Zhu

doi:10.1109/tac.2017.2720419

Cited by 151 publications

(93 citation statements)

References 16 publications

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“…Moreover, the corresponding stability of continuous ADRC has been fully studied by assuming that the total disturbance is bounded. 26,27 However, by considering the coupling effect in system dynamics and estimation process caused by nonlinear total disturbance, only the closed-loop stability of the ADRC design in discontinuous form (29) or with sufficiently large saturation 17 can be rigorously analyzed. It is of great significance to break this barrier between application and theoretical analysis of ADRC.…”

Section: Discussionmentioning

confidence: 99%

“…Moreover, Assumption 1 implies that the system (3) is controllable under multiple uncertainties, which is a regular assumption. For example, the uncertain system with lower-triangular form [17][18][19] is a special case of the uncertain system (3) satisfying Assumption 1.…”

Section: Assumptionmentioning

confidence: 99%

“…are linearly independent in R n+1 . The linearly independence of (17) implies that the rank of the matrix…”

Section: Conceptualization Of Total Disturbancementioning

confidence: 99%

See 2 more Smart Citations

On active disturbance rejection control for nonlinear systems with multiple uncertainties and nonlinear measurement

Chen

Xue

Huang

2020

Intl J Robust & Nonlinear

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The paper proposes a novel control design for nonlinear systems with multiple uncertainties and nonlinear measurement. The output linearization is utilized to handle the nonlinearities in system dynamics and measurement. Firstly, the integrator chain for nonlinear systems with multiple uncertainties is analyzed. Based on the fundamental integrator chain form, the equivalent total effect of multiple uncertainties is summarized as total disturbance. By timely estimating and compensating for the total disturbance, an active disturbance rejection control design to handle both multiple uncertainties and nonlinear measurement is proposed. Moreover, the transient performance of the corresponding closed-loop system is rigorously studied, which theoretically reveals the high consistence of the tracking performance despite various multiple uncertainties. K E Y W O R D Sactive disturbance rejection control, extended state observer, mismatched uncertainty, multiple uncertainties, nonlinear uncertain system, total disturbance

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Section: Discussionmentioning

confidence: 99%

Section: Assumptionmentioning

confidence: 99%

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On active disturbance rejection control for nonlinear systems with multiple uncertainties and nonlinear measurement

Chen

Xue

Huang

2020

Intl J Robust & Nonlinear

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“…For a class of nonlinear systems with large uncertainties that come from both internal unknown dynamics and external stochastic disturbance, a novel ESO was designed to estimate both state and total disturbance which included the internal uncertain nonlinear part and the external uncertain stochastic disturbance [21]. To improve the performance of ADRC, a fal-based, single-parameter-tuning ESO was proposed, and the convergence of the fal-based ESO and the output tracking were established [22]. To improve the performance of the tracking differentiator (TD), an ADRC method based on a radial basis function neural network (RBFNN) was proposed [23], which enhanced the robustness and disturbance rejection ability of the method.…”

Section: Introductionmentioning

confidence: 99%

Active Disturbance Rejection Control for Air-Breathing Hypersonic Vehicles Based on Prescribed Performance Function

Lei

Lü

2019

International Journal of Aerospace Engineering

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Aiming at the longitudinal motion model of the air-breathing hypersonic vehicles (AHVs) with parameter uncertainties, a new prescribed performance-based active disturbance rejection control (PP-ADRC) method was proposed. First, the AHV model was divided into a velocity subsystem and altitude system. To guarantee the reliability of the control law, the design process was based on the nonaffine form of the AHV model. Unlike the traditional prescribed performance control (PPC), which requires accurate initial tracking errors, by designing a new performance function that does not depend on the initial tracking error and can ensure the small overshoot convergence of the tracking error, the error convergence process can meet the desired dynamic and steady-state performance. Moreover, the designed controller combined with an active disturbance rejection control (ADRC) and extended state observer (ESO) further enhanced the disturbance rejection capability and robustness of the method. To avoid the differential expansion problem and effectively filter out the effects of input noise in the differential signals, a new tracking differentiator was proposed. Finally, the effectiveness of the proposed method was verified by comparative simulations.

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“…Specific applications in different fields emerge in large numbers including synchronous motors [9], DC-DC power converters [10], control system in superconducting RF cavities [11], and flight vehicles control [12]. On the other hand, there have been lots of theoretical researches like the convergence analysis of ADRC for uncertain nonlinear systems [13][14][15][16] and the stabilization and output tracking problem for distributed parameter systems by the ADRC approach [17][18][19][20][21].…”

Section: Introductionmentioning

confidence: 99%

Output Regulation for a Class of MIMO Uncertain Stochastic Nonlinear Systems by Active Disturbance Rejection Control Approach

Huang

Ouyang

et al. 2019

Mathematical Problems in Engineering

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In this paper, the active disturbance rejection control (ADRC) approach is applied to a class of multi-input multioutput (MIMO) uncertain stochastic nonlinear systems. An extended state observer (ESO) is first designed for estimation of both unmeasured states and stochastic total disturbance of each subsystem which represents the total effects of internal unmodeled stochastic dynamics and external stochastic disturbance with unknown statistical property. The ADRC controller based on the states of ESO is further designed to achieve the closed-loop system's output regulation performance including practical mean square reference signals tracking, disturbance attenuation, and practical mean square stability when the reference signals are zero avoiding solving any partial differential equations in the conventional output regulation theory. Some numerical simulations are presented to demonstrate the effectiveness of the proposed ADRC approach.

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A Novel Extended State Observer for Output Tracking of MIMO Systems With Mismatched Uncertainty

Cited by 151 publications

References 16 publications

On active disturbance rejection control for nonlinear systems with multiple uncertainties and nonlinear measurement

On active disturbance rejection control for nonlinear systems with multiple uncertainties and nonlinear measurement

Active Disturbance Rejection Control for Air-Breathing Hypersonic Vehicles Based on Prescribed Performance Function

Output Regulation for a Class of MIMO Uncertain Stochastic Nonlinear Systems by Active Disturbance Rejection Control Approach

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