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Active disturbance rejection control approach to output‐feedback stabilization of lower triangular nonlinear systems with stochastic uncertainty
Author(s) -
Guo BaoZhu,
Wu ZeHao
Publication year - 2016
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3710
Subject(s) - control theory (sociology) , nonlinear system , disturbance (geology) , constant (computer programming) , active disturbance rejection control , inverse , mathematics , stability (learning theory) , inverse dynamics , computer science , state observer , control (management) , physics , paleontology , geometry , kinematics , classical mechanics , quantum mechanics , artificial intelligence , machine learning , biology , programming language
Summary In this paper, we apply the active disturbance rejection control approach to output‐feedback stabilization for uncertain lower triangular nonlinear systems with stochastic inverse dynamics and stochastic disturbance. We first design an extended state observer (ESO) to estimate both unmeasured states and stochastic total disturbance that includes unknown system dynamics, unknown stochastic inverse dynamics, external stochastic disturbance, and uncertainty caused by the deviation of control parameter from its nominal value. The stochastic total disturbance is then compensated in the feedback loop. The constant gain and the time‐varying gain are used in ESO design separately. The mean square practical stability for the closed‐loop system with constant gain ESO and the mean square asymptotic stability with time‐varying gain ESO are developed, respectively. Some numerical simulations are presented to demonstrate the effectiveness of the proposed output‐feedback control scheme. Copyright © 2016 John Wiley & Sons, Ltd.