Bandwidth Based Stability Analysis of Active Disturbance Rejection Control for Nonlinear Uncertain Systems-中国期刊网

摘要 Thispaperfocusesonthestabilityanalysisoftheactivedisturbancerejectioncontrol(ADRC)foraclassofuncertainsystems.ToovercomethedifficultyofdefiningareasonableLyapunovfunctionandsettinglimitationsofsystemparameters,theconverseLyapunovtheoremandthedisturbancetheoryareemployed.Thispaperprovesthattheestimationerroroftheextendedstateobserver(ESO)andthetrackingerroroftheclosed-loopsystemusingADRCareuniformlyultimatelyboundedandmonotonouslydiminishingwiththeincreaseoftheirrespectivebandwidth,sothatthestabilityoftheADRCsystemcouldbeperformed.Inordertofurtherillustratetherelationshipbetweenthestabilityrangeandbandwidths,itanalyzesquantitativelytheperformanceofESOandADRCbasedontherootlocusandthestepresponse.Finally,anexamplebasedonatypicalcontrolsystemiscarriedout,andsimulationresultsverifythetheoreticalanalysisprovedinthispaper.

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Bandwidth Based Stability Analysis of Active Disturbance Rejection Control for Nonlinear Uncertain Systems

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Bandwidth Based Stability Analysis of Active Disturbance Rejection Control for Nonlinear Uncertain Systems

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