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On active disturbance rejection control for nonlinear systems with multiple uncertainties and nonlinear measurement. (English) Zbl 1466.93027

Summary: The paper proposes a novel control design for nonlinear systems with multiple uncertainties and nonlinear measurement. The output linearization is utilized to handle the nonlinearities in system dynamics and measurement. Firstly, the integrator chain for nonlinear systems with multiple uncertainties is analyzed. Based on the fundamental integrator chain form, the equivalent total effect of multiple uncertainties is summarized as total disturbance. By timely estimating and compensating for the total disturbance, an active disturbance rejection control design to handle both multiple uncertainties and nonlinear measurement is proposed. Moreover, the transient performance of the corresponding closed-loop system is rigorously studied, which theoretically reveals the high consistence of the tracking performance despite various multiple uncertainties.

MSC:

93B18 Linearizations
93C10 Nonlinear systems in control theory
93C41 Control/observation systems with incomplete information
93B53 Observers
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