Print Email Facebook Twitter Active Disturbance Rejection Control for Uncertain Nonlinear Systems With Sporadic Measurements Title Active Disturbance Rejection Control for Uncertain Nonlinear Systems With Sporadic Measurements Author He, K. (TU Delft Team Bart De Schutter; Beihang University) Dong, Chaoyang (Beihang University) Wang, Qing (Beihang University) Date 2022 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 closed-loop system is proved under given conditions. Two numerical simulations demonstrate the effectiveness of the proposed control method. Subject Active disturbance rejection control (ADRC)extended state observer (ESO)sampled measurementsuncertain nonlinear systems To reference this document use: http://resolver.tudelft.nl/uuid:2f8ee2b3-b3ab-457f-8756-1c06bdf6da31 DOI https://doi.org/10.1109/JAS.2022.105566 Embargo date 2023-07-01 ISSN 2329-9266 Source IEEE/CAA Journal of Automatica Sinica, 9 (5), 893-906 Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2022 K. He, Chaoyang Dong, Qing Wang Files PDF Active_Disturbance_Reject ... ements.pdf 2.29 MB Close viewer /islandora/object/uuid:2f8ee2b3-b3ab-457f-8756-1c06bdf6da31/datastream/OBJ/view