Active Disturbance Rejection Control Approach to Output-Feedback Stabilization of a Class of Uncertain Nonlinear Systems Subject to Stochastic Disturbance

• Published in: IEEE transactions on automatic control Vol. 61; no. 6; pp. 1613 - 1618
• Main Authors: Guo, Bao-Zhu, Wu, Ze-Hao, Zhou, Hua-Cheng
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.06.2016; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Active control; Closed loop systems; Differential equations; disturbance; Disturbances; Dynamical systems; Noise; Nonlinear dynamics; Nonlinear systems; Observers; output-feedback; Rejection; stabilization; Stochastic processes; Stochasticity; Uncertain stochastic systems; Uncertainty; output-feedback; uncertain stochastic systems; stabilization; Disturbance
• ISSN: 0018-9286; 1558-2523
• DOI: 10.1109/TAC.2015.2471815

The active disturbance rejection control (ADRC) is now considered as a powerful control strategy in dealing with large uncertainty covering unknown dynamics, external disturbance, and unknown part in coefficient of the control. However, all theoretical works up to present are limited to deterministic uncertainty. In this technical note, we generalize the ADRC to uncertain nonlinear systems subject to external bounded stochastic disturbance described by an uncertain stochastic differential equation driven by white noise. We first design an extended state observer (ESO) that is used to estimate both state, and total disturbance which includes the internal uncertain nonlinear part and the external uncertain stochastic disturbance. It is shown that the resulting closed-loop system is practically stable in the mean-square topology. The numerical experiments are carried out to illustrate effectiveness of the proposed approach.