Active Disturbance Rejection Control for Uncertain Nonlinear Systems With Sporadic Measurements

Journal Article (2022)
Author(s)

Kanghui He (TU Delft - Team Bart De Schutter, Beihang University)

Chaoyang Dong (Beihang University)

Qing Wang (Beihang University)

Research Group
Team Bart De Schutter
Copyright
© 2022 K. He, Chaoyang Dong, Qing Wang
DOI related publication
https://doi.org/10.1109/JAS.2022.105566
More Info
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Publication Year
2022
Language
English
Copyright
© 2022 K. He, Chaoyang Dong, Qing Wang
Research Group
Team Bart De Schutter
Issue number
5
Volume number
9
Pages (from-to)
893-906
Reuse Rights

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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.

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