On Active Disturbance Rejection Control for a Class of Uncertain Systems With Measurement Uncertainty
Sen Chen, Zhixiang Chen
Abstract
This article studies the control problem for nonlinear uncertain systems with measurement uncertainty. By seizing the equivalent total effect of multiple uncertainties in both dynamics and measurement, an active disturbance rejection control design is proposed. By timely estimating and compensating for the total effect of various uncertainties, the highly consistent transient performance of tracking is theoretically revealed. Moreover, the relationship between the tracking error and the controller parameters is qualitatively shown. Finally, the simulation and experimental results illustrate the effectiveness of the proposed method.
Topics & Concepts
Control theory (sociology)Disturbance (geology)Active disturbance rejection controlNonlinear systemMeasurement uncertaintyTransient (computer programming)Tracking (education)Controller (irrigation)Robust controlControl (management)Tracking errorObservational errorComputer scienceControl engineeringControl systemEngineeringMathematicsStatisticsArtificial intelligencePhysicsPsychologyOperating systemState observerBiologyElectrical engineeringQuantum mechanicsPedagogyAgronomyPaleontologyAdaptive Control of Nonlinear SystemsAdvanced Control Systems OptimizationStability and Control of Uncertain Systems