Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 61, Issue 6, Pages 1613-1618Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2015.2471815
Keywords
Disturbance; output-feedback; stabilization; uncertain stochastic systems
Funding
- National Natural Science Foundation of China
- National Basic Research Program of China [2011CB808002]
- National Research Foundation of South Africa
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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.
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