New design of active disturbance rejection control for nonlinear uncertain systems with unknown control input gain  

作　　者：Sen CHEN Zhixiang CHEN Yi HUANG Zhi-Liang ZHAO 

机构地区：[1]School of Mathematics and Statistics,Shaanxi Normal University,Xi’an 710119,China [2]Department of Missile Launching and Power,Rocket Force Sergeant Academy,Weifang 262500,China [3]Key Laboratory of Systems and Control,Academy of Mathematics and Systems Science,Chinese Academy of Sciences,Beijing 100190,China [4]School of Mathematical Sciences,University of Chinese Academy of Sciences,Beijing 100049,China

出　　处：《Science China(Information Sciences)》2022年第4期152-164,共13页中国科学（信息科学）（英文版）

基　　金：supported by National Natural Science Foundations of China(Grant Nos.62003202,61973202,61903085);Fundamental Research Funds for the Central Universities(Grant No.GK202003008);National Key R&D Program of China(Grant No.2018YFA0703800);Guangdong Basic and Applied Basic Research Foundation(Grant No.2019A1515111070);China Postdoctoral Science Foundation(Grant No.2020M672965);State Key Laboratory of Synthetical Automation for Process Industries and the National Center for Mathematics and Interdisciplinary Sciences,Chinese Academy of Sciences.

摘　　要：The paper considers the control problem for uncertain nonlinear systems with unknown control input gain.Based on the information of control direction rather than the nominal value of control input gain,a new active disturbance rejection control design is proposed.In the proposed design,the extended state observer(ESO)is constructed to estimate the total disturbance containing the uncertainty of control input.Via the estimations from ESO,the control input is generated by a designed dynamical system,which can force the actual input to track the ideal input.Moreover,for a wide class of nonlinear uncertainties,the transient performance of the proposed design is investigated.The theoretical results show that the tracking and estimating errors,as well as the difference between the actual and ideal inputs,can be sufficiently small by tuning the parameter of ESO despite various uncertainties.The experiment of a permanent magnet linear synchronous motor servo system illustrates the effectiveness of the proposed design.

关 键 词：uncertain system active disturbance rejection control control input gain 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]