Active Disturbance Rejection Control for Uncertain Nonlinear Systems With Sporadic Measurements  

作　　者：Kanghui He Chaoyang Dong Qing Wang 

机构地区：[1]School of Aeronautic Science and Engineering,Beihang University,Beijing 100191,China [2]Delft Center for System and Control,Delft University of Technology,Delft,the Netherlands [3]IEEE [4]School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2022年第5期893-906,共14页自动化学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(61833016,61873295).

摘　　要：This paper deals with the problem of active disturbance rejection control(ADRC)design for a class of uncertain nonlinear systems with sporadic measurements.A novel extended state observer(ESO)is designed in a cascade form consisting of a continuous time estimator,a continuous observation error predictor,and a reset compensator.The proposed ESO estimates not only the system state but also the total uncertainty,which may include the effects of the external perturbation,the parametric uncertainty,and the unknown nonlinear dynamics.Such a reset compensator,whose state is reset to zero whenever a new measurement arrives,is used to calibrate the predictor.Due to the cascade structure,the resulting error dynamics system is presented in a non-hybrid form,and accordingly,analyzed in a general sampled-data system framework.Based on the output of the ESO,a continuous ADRC law is then developed.The convergence of the resulting closed-loop system is proved under given conditions.Two numerical simulations demonstrate the effectiveness of the proposed control method.

关 键 词：Active disturbance rejection control(ADRC) extended state observer(ESO) sampled measurements uncertain nonlinear systems 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]