Backstepping active disturbance rejection control: a delayed activation approach

被引：23

作者：

Ran, Maopeng ^{[1
]}

Wang, Qing ^{[1
]}

Dong, Chaoyang ^{[2
]}

Hou, Yanze ^{[3
]}

Wang, Zhaolei ^{[4
]}

机构：

[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China

[2] Beihang Univ, Sch Aeronaut Sci & Engn, Beijing 100191, Peoples R China

[3] China Acad Space Technol, Inst Manned Space Syst Engn, Beijing 100094, Peoples R China

[4] Beijing Aerosp Automat Control Inst, Beijing 100854, Peoples R China

来源：

IET CONTROL THEORY AND APPLICATIONS | 2017年 / 11卷 / 14期

基金：

中国国家自然科学基金;

关键词：

active disturbance rejection control; control nonlinearities; nonlinear control systems; delay systems; observers; closed loop systems; uncertain systems; state feedback; backstepping active disturbance rejection control; delayed activation approach; ADRC approach; pure feedback nonlinear systems; tracking control; ESOs; extended state observers; virtual control; system uncertainty; closed-loop signals; output tracking error; EXTENDED-STATE-OBSERVER; NONLINEAR-SYSTEMS; STABILIZATION; CONVERGENCE; ADRC;

D O I：

10.1049/iet-cta.2016.1533

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This study provides a solution to the problem of applying the active disturbance rejection control (ADRC) approach to the tracking control of pure feedback non-linear systems with large uncertainties. The design is based on the backstepping technique, and in each step two extended state observers (ESOs) are designed, one to approximate the derivative of the virtual control generated from the last step, while the other to estimate the system uncertainty. A key feature of the developed backstepping ADRC is that the activations of the ESOs are delayed successively. It is proved that under the new backstepping scheme, the closed-loop signals are guaranteed to be semi-globally uniformly ultimately bounded and the output tracking error can be made arbitrarily small.

引用

页码：2336 / 2342

页数：7

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