Title :
On performance analysis of ADRC for nonlinear uncertain systems with unknown dynamics and discontinuous disturbances
Author :
Wenchao Xue ; Yi Huang
Author_Institution :
Key Lab. of Syst. & control, Acad. of Math. & Syst. Sci., Beijing, China
Abstract :
This paper concerns with the performance of active disturbance rejection control (ADRC) for a class of uncertain system with nonlinear time-varying unknown dynamics and discontinuous external disturbance. We weaken the assumptions on the uncertainties in previous work to a large certain, and quantitatively analyze the relationship between the bandwidth of linear extended state observer (ESO) and the performance of the closed-loop system in the whole time region. The condition under which the origin of the ADRC based closed-loop system is exponentially stable is studied.
Keywords :
asymptotic stability; closed loop systems; nonlinear control systems; nonlinear dynamical systems; observers; robust control; time-varying systems; uncertain systems; ADRC performance analysis; ESO; active disturbance rejection control; closed-loop system; discontinuous external disturbance; exponential stability; linear extended state observer; nonlinear time-varying unknown dynamic disturbance; nonlinear uncertain systems; Bandwidth; Closed loop systems; Estimation error; Nonlinear dynamical systems; Observers; Trajectory; Uncertainty; Extended state observer (ESO); active disturbance rejection control (ADRC); discontinuous external disturbance; nonlinear uncertain system;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
