Stability analysis of the high-order nonlinear extended state observers for a class of nonlinear control systems

Gao, Ke; Yang, Erfu

doi:10.1177/0142331219858846

Cited by 13 publications

(8 citation statements)

References 22 publications

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“…The extended state space representation is defined to estimate the total disturbance of the system (Gao et al, 2019), let z = [ z 1 z 2 z 3 ] T , where z 1 = v , z 2 = v · , z 3 = F ( v , u ) .…”

Section: Control Scheme Designmentioning

confidence: 99%

Adaptive-based linear active disturbance rejection attitude control for quadrotor with external disturbances

Wang

Zhao

2021

Transactions of the Institute of Measurement and Control

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This paper proposes a linear active disturbance rejection control (LADRC) scheme for a quadrotor unmanned aerial vehicle (UAV) with external disturbances based on adaptive control to address the attitude control problem. Firstly, the dynamic model of the quadrotor is established, and LADRC is used to control the altitude, yaw angle, pitch angle and roll angle of the quadrotor UAV affected by external disturbances, which enhances the anti-disturbance ability of the system. In addition, adaptive control is introduced to solve the problem of difficult parameter tuning in LADRC. Then, the stability of the system is demonstrated by Lyapunov theory. Finally, the simulation results verify the effectiveness of the proposed control scheme under external disturbances.

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Section: Control Scheme Designmentioning

confidence: 99%

Adaptive-based linear active disturbance rejection attitude control for quadrotor with external disturbances

Wang

Zhao

2021

Transactions of the Institute of Measurement and Control

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“…However, the NESO makes the system difficult for engineering analysis, and the nonlinear element of extended state observer (ESO) might cause shaking of the system. To cure the problems of the NESO, Gao et al (2019) analyze the shaking problem and the stability of NESO, and propose a parameter tuning method for the NESO and the ADRC, which can unify NESO and LESO (linear extended state observer) effectively. Moreover, Gao (2003) linearizes the NESO and proposes the LESO and the linear active disturbance rejection control (LADRC).…”

Section: Introductionmentioning

confidence: 99%

Stability and performance comparison analysis for linear active disturbance rejection control–based system

Zhao

et al. 2022

Transactions of the Institute of Measurement and Control

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This paper investigates the stability and performance of the linear active disturbance rejection control (LADRC)–based system with uncertainties and external disturbance via transfer functions and a frequency-domain view. The performance of LADRC is compared with the state-observer-based state feedback control (SOSFC) and state feedback control (SFC). First, the transfer functions and the error transfer functions for LADRC, SOSFC, and SFC are studied using the state-space method. It is proven that the LADRC-, SOSFC-, and SFC-based closed-loop systems have the same transfer function from the reference input to the output and achieve the same control effects for the nominal system. Then, it is proven for the first time that the LADRC has a better anti-interference ability than the SOSFC and SFC. Besides, the asymptotic stability condition of LADRC-based closed-loop system considering large parameter perturbations is given first. Moreover, the sensitivity analysis of the closed-loop system is carried out. The results show that the LADRC has stronger robustness under parameter perturbations. According to the results, we conclude that the LADRC is of great disturbance rejection ability and strong robustness.

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“…In the past decade, active disturbance rejection control (ADRC) was initially proposed by Han (2009), Han et al (2019); Yang et al (2018), and Tavasoli (2019) and have attracted wide attention on the nonlinear system for disturbance rejection control owing to its special properties, such as simple design, convenient calculation, does not need high-precision mathematical modeling and can estimate uncertain parameters and disturbances (Gao et al, 2019;Wei et al, 2015;Wu and Guo, 2019). The basic idea of ADRC is adopting an extended state observer (ESO) which is composed of nonlinear function to estimate the plant unmodeled state and external state as a total disturbance in real time and to compensate it dynamically (Luo et al, 2019;Xue et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

Disturbance rejection control of airborne radar stabilized platform based on active disturbance rejection control inverse estimation algorithm

Mei

2021

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Purpose This paper aims to study a disturbance rejection controller to improve the anti-interference capability and the position tracking performance of airborne radar stabilized platform that ensures the stability and clarity of synthetic aperture radar imaging. Design/methodology/approach This study proposes a disturbance rejection control scheme for an airborne radar stabilized platform based on the active disturbance rejection control (ADRC) inverse estimation algorithm. Exploiting the extended state observer (ESO) characteristic, an inversely ESO is developed to inverse estimate the unmodeled state and extended state of the platform system known as total disturbances, which greatly improves the estimation performance of the disturbance. Then, based on the inverse ESO result, feedback the difference between the output of the tracking differentiator and the inverse ESO result to the nonlinear state error feedback controller (NLSEF) to eliminate the effects of total disturbance and ensure the stability of the airborne radar stabilized platform. Findings Simulation experiments are adopted to compare the performance of the ADRC inverse estimation algorithm with that of the proportional integral derivative controller which is one of the mostly applied control schemes in platform systems. In addition, classical ADRC is compared as well. The results have shown that the ADRC inverse estimation algorithm has a better disturbance rejection performance when disturbance acts in airborne radar stabilized platform, especially disturbed by continuous airflow under some harsh air conditions. Originality/value The originality of this paper is exploiting the ESO characteristic to develop an inverse ESO, which greatly improves the estimation performance of the disturbance. And the ADRC inverse estimation algorithm is applied to ameliorate the anti-interference ability of the airborne radar stabilization platform, especially the ability to suppress continuous interference under complex air conditions.

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Stability analysis of the high-order nonlinear extended state observers for a class of nonlinear control systems

Cited by 13 publications

References 22 publications

Adaptive-based linear active disturbance rejection attitude control for quadrotor with external disturbances

Adaptive-based linear active disturbance rejection attitude control for quadrotor with external disturbances

Stability and performance comparison analysis for linear active disturbance rejection control–based system

Disturbance rejection control of airborne radar stabilized platform based on active disturbance rejection control inverse estimation algorithm

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