On Convergence of the Nonlinear Active Disturbance Rejection Control for MIMO Systems

In this paper, the global and semiglobal convergence of the nonlinear active disturbance rejection control (ADRC) for a class of multi-input multi-output nonlinear systems with large uncertainty that comes from both dynamical modeling and external disturbance are proved. As a result, a class of line...

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Bibliographic Details
Published inSIAM journal on control and optimization Vol. 51; no. 2; pp. 1727 - 1757
Main Authors Guo, Bao-Zhu, Zhao, Zhi-Liang
Format Journal Article
LanguageEnglish
Published Philadelphia Society for Industrial and Applied Mathematics 01.01.2013
Subjects
Active control
Applied mathematics
Approximation
Control systems
Control theory
Convergence
Disturbances
Dynamical systems
Mathematical models
Nonlinearity
Process controls
Rejection
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Summary:In this paper, the global and semiglobal convergence of the nonlinear active disturbance rejection control (ADRC) for a class of multi-input multi-output nonlinear systems with large uncertainty that comes from both dynamical modeling and external disturbance are proved. As a result, a class of linear systems with external disturbance that can be dealt with by the ADRC is classified. The ADRC is then compared both analytically and numerically to the well-known internal model principle. A number of illustrative examples are presented to show the efficiency and advantage of the ADRC in dealing with unknown dynamics and in achieving fast tracking with lower overstriking. [PUBLICATION ABSTRACT]
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ISSN:0363-0129
1095-7138
DOI:10.1137/110856824