On the conditions of exponential stability in active disturbance rejection control based on singular perturbation analysis
| Autor: | Sally S. L. Shao, Zhiqiang Gao |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
020208 electrical & electronic engineering Inverse 02 engineering and technology Feedback loop Active disturbance rejection control Computer Science Applications Exponential function Nonlinear system 020901 industrial engineering & automation Exponential stability Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering Differentiable function State observer Mathematics |
| Zdroj: | International Journal of Control. 90:2085-2097 |
| ISSN: | 1366-5820 0020-7179 |
| DOI: | 10.1080/00207179.2016.1236217 |
| Popis: | Stability of active disturbance rejection control (ADRC) is analysed in the presence of unknown, nonlinear, and time-varying dynamics. In the framework of singular perturbations, the closed-loop error dynamics are semi-decoupled into a relatively slow subsystem (the feedback loop) and a relatively fast subsystem (the extended state observer), respectively. It is shown, analytically and geometrically, that there exists a unique exponential stable solution if the size of the initial observer error is sufficiently small, i.e. in the same order of the inverse of the observer bandwidth. The process of developing the uniformly asymptotic solution of the system reveals the condition on the stability of the ADRC and the relationship between the rate of change in the total disturbance and the size of the estimation error. The differentiability of the total disturbance is the only assumption made. |
| Databáze: | OpenAIRE |
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