期刊
EUROPEAN JOURNAL OF CONTROL
卷 23, 期 -, 页码 62-70出版社
ELSEVIER SCIENCE BV
DOI: 10.1016/j.ejcon.2015.02.002
关键词
Disturbance rejection; Extended state observer; Nonlinear systems
资金
- National Natural Science Foundations of China [61403242, 11401360, 11471201]
- Fundamental Research Funds for the Central University [GK201402003]
In this paper; we propose an modified nonlinear extended state observer (ESO) with a time-varying gain in active disturbance rejection control (ADRC) to deal with a class of nonlinear systems which are essentially normal forms of general affine nonlinear systems. The total disturbance which includes unknown dynamics of the system, external disturbance, and unknown part of the control coefficient is estimated through ESO and is canceled in nonlinear feedback loop. The practical stability for the resulting closed-loop is obtained. It is shown that the peaking value occurred often in the constant high gain design can be significantly reduced by the time-varying gain approach. (C) 2015 European Control Association. Published by Elsevier Ltd. All rights reserved.
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