Active Disturbance Rejection Control for Uncertain Nonlinear Systems With Sporadic Measurements

Abstract

This paper deals with the problem of active disturbance rejection control (ADRC) design for a class of uncertain nonlinear systems with sporadic measurements. A novel extended state observer (ESO) is designed in a cascade form consisting of a continuous time estimator, a continuous observation error predictor, and a reset compensator. The proposed ESO estimates not only the system state but also the total uncertainty, which may include the effects of the external perturbation, the parametric uncertainty, and the unknown nonlinear dynamics. Such a reset compensator, whose state is reset to zero whenever a new measurement arrives, is used to calibrate the predictor. Due to the cascade structure, the resulting error dynamics system is presented in a non-hybrid form, and accordingly, analyzed in a general sampled-data system framework. Based on the output of the ESO, a continuous ADRC law is then developed. The convergence of the resulting closedloop system is proved under given conditions. Two numerical simulations demonstrate the effectiveness of the proposed control method.

Unified synchronization and fault‐tolerant anti‐disturbance control for synchronization of multiple memristor‐based neural networks

“…Aside from the foregoing, it is crucial to comprehend that the occurrence of disturbances 29 typically provokes a disruption to the intended functioning of the system and may perhaps makes the system to become unstable. As of now, with the intent to provide a solution to problems of this kind, a plenty of distinctive strategies such as equivalent input disturbance, 30 uncertainty and disturbance estimation, 31 extended state observer, 32 sliding mode control, 33 $$$ {\mathscr{H}}_{\infty } $$$ theory, 34 dissipativity theory, 35 and so forth, have been postulated. Precisely, all the afore‐stated approaches are only equipped to tackle a single disruption in the system, that is, they either reject the disturbances present in the control channel or mitigate the adverse impact of external disturbances in the system.…”

Research on Aircraft Attitude Control Method Based on Linear Active Disturbance Rejection

“…Active disturbance rejection control (ADRC) is a nonlinear adaptive control method proposed by Professor Jingqing Han [1]. In this method, the uncertainty and unmodeled error of the model are classified as "total disturbance" of the system [4]. The internal and external disturbances of the system can be estimated and compensated in real time.…”

Data-Driven Active Disturbance Rejection Control of Plant-Protection Unmanned Ground Vehicle Prototype: A Fuzzy Indirect Iterative Learning Approach

“…The values of adjustable parameters can affect the performance of ADRC, it is necessary to select the appropriate parameters based on disturbances [6], [7]. The bandwidth affects the observation ability of the ESO, and the control channel gain is related to system stability and response speed [8].…”

“…The designed ADRC structure is composed of a tracking differentiator (TD), ESO, and a nonlinear state error feedback control law. The detailed content can be found in [6]. In addition, [6] also includes the process of stability analysis for ADRC.…”

“…The detailed content can be found in [6]. In addition, [6] also includes the process of stability analysis for ADRC. For data-driven model-free control, multiple methods of stability analysis are discussed in [3].…”