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Active Disturbance Rejection Control of Second-Order Nonlinear Uncertain Systems with Guaranteed Transient and Steady State Tracking Error Bounds

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文摘 This paper presents an active disturbance rejection control (ADRC) method for a class of second-order nonlinear uncertain systems with guaranteed transient and steady state tracking error bounds. To deal with the tracking error constraint, an output error transformation and sliding surface technique are introduced to transform the constrained second-order system into an equivalent unconstrained first-order one. Then, an ADRC method is developed to achieve output tracking of the transformed uncertain system. The author proves that the closed-loop system is semi-globally uniformly bounded and it is sufficient to guarantee the tracking error constraint for the original system. Simulation results of a system of two inverted pendulums connected by a spring and a damper demonstrate the effectiveness of the proposed control method.
来源 Journal of Systems Science and Complexity ,2022,35(4):1293-1309 【核心库】
DOI 10.1007/s11424-022-1010-2
关键词 Active disturbance rejection control ; output feedback control ; prescribed performance ; uncertain nonlinear systems
地址

Qingzhou High-Tech Institute, Qingzhou, 262500

语种 英文
文献类型 研究性论文
ISSN 1009-6124
学科 自动化技术、计算机技术
基金 supported by the Key Laboratory of Systems and Control, Chinese Academy of Sciences
文献收藏号 CSCD:7394031

参考文献 共 23 共2页

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引证文献 1 篇

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