On Convergence of Nonlinear Active Disturbance Rejection Control for MIMO Systems

摘要：

In this paper, the global and semi-global convergence of nonlinear active disturbance rejection control (ADRC) for a class of multi-input multi-output (MIMO) nonlinear systems with large uncertainties that come from both dynamical modeling and external disturbance are proved. A class of linear systems with external disturbance that can be dealt with by ADRC is classified, from which a comparison with internal model principle is made both analytically and numerically. Numerical simulations illustrate the efficiency and advantage of ADRC in dealing with unknown dynamics, fast tracking, and lower overstriking.

关键词： Nonlinear system observer output feedback Lyapunov stability stabilization robust design

作者: Zhi-Liang Zhao Bao-Zhu Guo

作者单位: School of Mathematical Science, University of Science and Technology of China, Hefei 230026, China The Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Academia Sini

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 434-441

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）