Adaptive active disturbance rejection control guaranteeing uniformly ultimate boundedness and simplicity

Summary The active disturbance rejection control (ADRC) scheme requires a high bandwidth in the extended state observer (ESO), causing heavy noise pollution in the control system. This article develops an effective and simple adaptive ADRC scheme to realize high performance control when ESO bandwidt...

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Bibliographic Details
Published in:International journal of robust and nonlinear control 2020-11, Vol.30 (17), p.7278-7294
Main Authors: Nie, Zhuo‐Yun, Zhang, Bing, Wang, Qing‐Guo, Liu, Rui‐Juan, Luo, Ji‐Liang
Format: Article
Language:English
Subjects:
Active control
Adaptive control
Control theory
disturbance rejection
Feedback loops
Noise control
Noise pollution
nonlinear system
Rejection
State observers
Tracking errors
uniformly ultimate boundedness
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Summary:Summary The active disturbance rejection control (ADRC) scheme requires a high bandwidth in the extended state observer (ESO), causing heavy noise pollution in the control system. This article develops an effective and simple adaptive ADRC scheme to realize high performance control when ESO bandwidth is limited. The adaptative law is generated by the state tracking error such that all the feedback loops and feedforward channels are activated for active disturbance rejection. An “attached” and “quantified” adaptation is developed to guarantee the easy usage of the proposed scheme. The uniformly ultimate boundedness of all the signals in the closed‐loop system is proved in the sense of Lyapunov theory. Finally, two simulation examples are given to demonstrate the results.
ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.5177