Guaranteed-cost active disturbance rejection control for uncertain systems with an integral controller

Guaranteed-cost active disturbance rejection control (ADRC) for uncertain systems is investigated in this study. Firstly, an integral action is introduced in the framework of ADRC to measure and reduce the tracking error. Then, a robust stability condition is presented, and a quadratic cost function...

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Bibliographic Details
Published in:International journal of systems science 2018-07, Vol.49 (9), p.2012-2024
Main Authors: Nie, Zhuo-Yun, Ma, Yi-jing, Wang, Qing-Guo, Guo, Dongsheng
Format: Article
Language:English
Subjects:
Active control
Active disturbance rejection control (ADRC)
Control systems
Error analysis
guaranteed-cost control
Integrals
Mathematical analysis
Matrix methods
Performance assessment
Rejection
Speed control
State observers
Tracking
uncertain system
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Summary:Guaranteed-cost active disturbance rejection control (ADRC) for uncertain systems is investigated in this study. Firstly, an integral action is introduced in the framework of ADRC to measure and reduce the tracking error. Then, a robust stability condition is presented, and a quadratic cost function where the tracking error is appearing explicitly is used for ADRC performance assessment. The cost bound is formulated by linear matrix inequality and optimised to obtain controller parameters. Full-dimension extended state observer is used, and thus, the proposed strategy is applicable to an uncertain system that allows relative-degree varying or right-half-plane zero. Finally, the validity of the proposed method and its advantages is demonstrated through the simulations of comparative examples and experiments on a motor speed control system.
ISSN:0020-7721
1464-5319
DOI:10.1080/00207721.2018.1483042