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

Chen, Sen; Xue, Wenchao; Huang, Yi

doi:10.1002/rnc.4948

Cited by 32 publications

(24 citation statements)

References 23 publications

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“…for the systems satisfying ρ ≥ 1 ω o , it can be deduced from (23) and Assumption 4 that t u can be closed to t 0 by suitably enlarging ω o .…”

Section: Performance Analysis Of the Closed-loop Systemmentioning

confidence: 99%

“…It is remarkable that the conditions in [21,22] can describe a wide class of nonlinear uncertainties in practice. By utilizing the concept of total disturbance, the literatures [23,24] illuminated the capability of ADRC to handle the mismatched nonlineari-ties in both dynamical systems and measurement model. Besides, several successful modifications of ADRC have been made for nonlinear uncertain systems with other complicated practical factors, such as time delay [25,26] and stochastic uncertainties [27,28].…”

Section: Introductionmentioning

confidence: 99%

“…In practical systems, the true value of control coefficient is usually unknown [19], which promotes the development of the ADRC based on the nominal values or approximative mathematical expression of control coefficient. For the ADRC based on the nominal information of control coefficient, the literatures [19,21,23] quantitatively analyzed the stability range of the uncertain control coefficient. Unfortunately, compared with the nonlinear uncertainties dependent on system states, the capability of the conventional ADRC to deal with the uncertainties of control coefficient is limited [31].…”

Section: Introductionmentioning

confidence: 99%

“…Based on the detailed expressions of error bounds, it is demonstrated that the satisfied closed-loop performance can be obtained by suitably enlarging the ESO's parameter despite a wide class of uncertainties. Moreover, by meticulously studying the relationship between the original states and integrators chain states, the paper removes the bounded assumption for integrators chain states [16,23]. The main contributions of the paper are as follows.…”

Section: Introductionmentioning

confidence: 99%

“…If the nominal value of the control coefficient b(t), denoted asb(t), can be obtained, the conventional ADRC design can be applied to the system (11) by regarding f (x,t) + (b(t) −b(t))u(t) as the total disturbance [23,29]. However, only the sign of the control coefficient b(t) is known in the paper, rather than the nominal value or the mathematical expression.…”

mentioning

confidence: 99%

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On active disturbance rejection control for lower-triangular nonlinear uncertain systems with mismatched uncertainties and unknown control coefficients

Liu¹,

Chen

Zhao

2021

Preprint

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The paper investigates the control problem for a class of lower-triangular nonlinear uncertain systems with mismatched uncertainties and unknown values of control coefficients. Based on the signs of control coefficients rather than the nominal values or the approximative mathematical expressions, a new active disturbance rejection control is proposed. The design procedure can be concluded by three steps: determining the equivalent integrators chain form, constructing the extended state observer to estimate the total disturbance, and designing a dynamical system to let the actual input track the ideal input. Then under a mild assumption for mismatched uncertainties and unknown control coefficients, the paper rigorously analyzes the bounds of tracking error, estimating error and the error between the actual and ideal inputs. The presented theoretical results reveal the strong robustness of the proposed method to mismatched uncertainties and uncertain control input coefficients. Moreover, the tuning law of observer parameter and the parameter of dynamical input design is theoretically shown.

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“…for the systems satisfying ρ ≥ 1 ω o , it can be deduced from (23) and Assumption 4 that t u can be closed to t 0 by suitably enlarging ω o .…”

Section: Performance Analysis Of the Closed-loop Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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On active disturbance rejection control for lower-triangular nonlinear uncertain systems with mismatched uncertainties and unknown control coefficients

Liu¹,

Chen

Zhao

2021

Preprint

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A new nonlinear extended state observer design for output tracking of uncertain nonlinear systems

Zhao

Chen

2020

Adv Control Appl

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In this article, we develop a new nonlinear extended state observer (ESO) for output tracking of a class of uncertain nonlinear affine systems. Instead of using the linear functions of the error, the nonlinear functions of the properly magnified error are used in the proposed ESO. Compared with the linear ESO, the new ESO allows more accurate estimation and smaller peaking value. We also design an output-feedback controller based on the proposed nonlinear ESO. The convergence of the new ESO is proved without assuming the boundedness of the system state. It is also proved that under the proposed output-feedback controller, the system output is capable to track the given reference signal despite a large scope of nonlinear uncertainties. Simulation results illustrate the effectiveness of the new ESO with improved performance.

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An overview on recent progress of extended state observers for uncertain systems: Methods, theory, and applications

2021

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Extended state observer (ESO) is featured with online estimating both the system's states and the total effect of external disturbance as well as nonlinear uncertain dynamics. The original ESO design, proposed for the cascade-of-integrator system without measurement noise, has been well studied with theoretical foundation and many successful applications. In the last years, multifarious modified ESOs have also been developed to handle many engineering systems captured by the models with general nonlinear structure, time-delay, the noises with stochastic properties, and etc. This paper aims to comprehensively investigate the representative modified ESOs in recent years. Firstly, the ESO's design and tuning law are illustrated for general uncertain systems with multiple control inputs, multiple measured outputs and various uncertainties. The quantitative results regarding the estimation errors of ESO are also presented. Next, the extended state-based Kalman-typed filters to handle state estimation problem against both stochastic noises and uncertain dynamics are introduced. The consistency, stability, and asymptotic optimization of the proposed filters are rigorously shown. Furthermore, some novel designs of ESO to deal with the estimation problem of uncertain nonlinear systems with time-delay and measurement biases are discussed. We believe this overview will be helpful for practitioners in applications of recent modified ESOs.

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

Cited by 32 publications

References 23 publications

On active disturbance rejection control for lower-triangular nonlinear uncertain systems with mismatched uncertainties and unknown control coefficients

On active disturbance rejection control for lower-triangular nonlinear uncertain systems with mismatched uncertainties and unknown control coefficients

A new nonlinear extended state observer design for output tracking of uncertain nonlinear systems

An overview on recent progress of extended state observers for uncertain systems: Methods, theory, and applications

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