On comparison of modified ADRCs for nonlinear uncertain systems with time delay  

作　　者：Sen CHEN Wenchao XUE Sheng ZHONG Yi HUANG 

机构地区：[1]Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science,Chinese Academy of Sciences [2]School of Mathematical Sciences, University of Chinese Academy of Sciences

出　　处：《Science China(Information Sciences)》2018年第7期187-201,共15页中国科学（信息科学）（英文版）

基　　金：supported in part by National Natural Science Foundation of China (Grant Nos. 61633003-3, 61603380);National Basic Research Program of China (973 Program) (Grant No. 2014CB845301)

摘　　要：To tackle systems with both uncertainties and time delays, several modified active disturbance rejection control（ADRC） methods, including delayed designed ADRC（DD-ADRC）, polynomial based predictive ADRC（PP-ADRC）, Smith predictor based ADRC（SP-ADRC） and predictor observer based ADRC（PO-ADRC）, have been proposed in the past years. This paper is aimed at rigorously investigating the performance of these modified ADRCs, such that the improvements of each method can be demonstrated.The capability to tackle time delay, the necessity of stable open loop and the performance of rejecting uncertainties for these methods are fully studied and compared. It is proven that large time delay cannot be tolerated for the stability of the closed-loop systems based on DD-ADRC and PP-ADRC. Moreover, stable open loop is shown to be necessary for stabilizing the closed-loop systems based on SP-ADRC. Furthermore,the performance of rejecting the ＂total disturbance＂ at low frequency for these modified ADRCs is evaluated and quantitatively discussed. Finally, the simulations of a boiler turbine system illustrate the theoretical results.To tackle systems with both uncertainties and time delays, several modified active disturbance rejection control（ADRC） methods, including delayed designed ADRC（DD-ADRC）, polynomial based predictive ADRC（PP-ADRC）, Smith predictor based ADRC（SP-ADRC） and predictor observer based ADRC（PO-ADRC）, have been proposed in the past years. This paper is aimed at rigorously investigating the performance of these modified ADRCs, such that the improvements of each method can be demonstrated.The capability to tackle time delay, the necessity of stable open loop and the performance of rejecting uncertainties for these methods are fully studied and compared. It is proven that large time delay cannot be tolerated for the stability of the closed-loop systems based on DD-ADRC and PP-ADRC. Moreover, stable open loop is shown to be necessary for stabilizing the closed-loop systems based on SP-ADRC. Furthermore,the performance of rejecting the ＂total disturbance＂ at low frequency for these modified ADRCs is evaluated and quantitatively discussed. Finally, the simulations of a boiler turbine system illustrate the theoretical results.

关 键 词：extended state observer active disturbance rejection control uncertain system time delay PREDICTOR 

分 类 号：O231[理学—运筹学与控制论]