Active disturbance rejection controller for uncertain nonaffine systems by dynamic inversion

被引：0
|
作者：
Chen Z.-X. [1 ,2 ]
Gao Q.-H. [1 ]
机构：
[1] College of Missile Engineering, Rocket Force University of Engineering, Xi'an
[2] Department of Missile Launching and Power, Rocket Force Sergeant Academy, Weifang
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2020年 / 37卷 / 11期
关键词：
Active disturbance rejection control; Dynamic inversion; Nonaffine systems; Uncertain nonlinear systems;
D O I：
10.7641/CTA.2020.90432
中图分类号：
学科分类号：
摘要：
This paper presents a linear active disturbance rejection control (LADRC) for nonaffine nonlinear systems with strict-feedback form. Firstly, the strict-feedback nonlinear system is transformed into an integrator-cascaded system by the diffeomorphism, for which the proposed LADRC design method is proposed. The proposed LADRC results in a closed-loop system with a three-time-scale structure. A linear extended state observer (LESO) is designed to estimate unmeasured states and total disturbances in the fastest time scale and dynamic inversion is used to deal with nonaffine inputs in the intermediate time scale while the system dynamics evolves in the slowest time scale. The singular perturbation method is used to analyze the stability and performance of the system. The proposed LADRC can also be applied to affine nonlinear systems with uncertain control gain. Numerical simulations and experimental results are used to demonstrate the effectiveness of the proposed LADRC. © 2020, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
引用
收藏
页码：2365 / 2382
页数：17
相关论文
共 32 条
  • [1] HAN J., From PID to active disturbance rejection control, IEEE Transactions on Industrial Electronics, 56, 3, pp. 900-906, (2009)
  • [2] ZHENG Q, PING Z, SOARES S, Et al., An optimized active disturbance rejection approach to fan control in server, Control Engineering Practice, 79, pp. 154-169, (2018)
  • [3] WANG Xiaohong, WU Feng, HOANG Thi Thu Giang, Et al., Application of linear active disturbance rejectioncontrol in full-bridge DC-DC converters, Control Theory & Applications, 35, 11, pp. 1610-1617, (2018)
  • [4] LI Ronghui, CAO Junhai, LI Tieshan, Active disturbance rejection control design and parameters configuration for ship steering with wave disturbance, Control Theory & Applications, 35, 11, pp. 1601-1609, (2018)
  • [5] CHEN Sen, XUE Wenchao, HUANG Yi, Active disturbance rejection control and control allocation forthrust-vectored aircraft, Control Theory & Applications, 35, 11, pp. 1591-1600, (2018)
  • [6] CHEN S, XUE W, ZHONG S, Et al., On comparison of modified ADRCs for nonlinear uncertain systems with time delay, Science China F Information Science, 61, 7, (2018)
  • [7] XUE W, HUANG Y., Performance analysis of active disturbance rejection tracking control for a class of uncertain LTI systems, ISA Transactions, 58, pp. 133-154, (2015)
  • [8] XUE W, HUANG Y., Performance analysis of 2-DOF tracking control for a class of nonlinear uncertain systems with discontinuous disturbances, International Journal of Robust Nonlinear Control, 28, 4, pp. 1456-1473, (2018)
  • [9] HUANG Y, XUE W., Active disturbance rejection control: methodology and theoretical analysis, ISA Transactions, 53, 4, pp. 963-976, (2014)
  • [10] ZHAO Z, GUO B., A nonlinear extended state observer based on fractional power, Automatica, 81, pp. 286-296, (2017)
1234