Adaptive active disturbance rejection control guaranteeing uniformly ultimate boundedness and simplicity. (14th September 2020)

• Record Type: Journal Article
• Authors: Nie, Zhuo‐Yun; Zhang, Bing; Wang, Qing‐Guo; Liu, Rui‐Juan; Luo, Ji‐Liang
• Is Part Of: International journal of robust and nonlinear control. Volume 30:Number 17(2020)
• Page Start: 7278
• Page End: 7294
• Publication Date: 2020-09-14
• Subjects: adaptive control -- disturbance rejection -- uniformly ultimate boundedness -- nonlinear system; Automatic control -- Periodicals; Control theory -- Periodicals; Nonlinear systems -- Periodicals; 629.836
• DOI: 10.1002/rnc.5177
• Languages: English
• ISSNs: 1049-8923

Abstract

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.