Stabilization of a class of nonlinear systems with actuator saturation via active disturbance rejection control

Ran, Maopeng; Wang, Qing; Dong, Chaoyang

doi:10.1016/j.automatica.2015.10.010

Cited by 147 publications

(89 citation statements)

References 28 publications

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“…Theorem 3. The state 1 and 2 of system (25) with control law (17) will enter the linear regions of function Σ 1 (·) and Σ 2 (·) in a finite time and stay there if control gains satisfy…”

Section: Nested Backstepping Controlmentioning

confidence: 99%

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Nested saturation control of multiple vector integrators and its application to motion control of UAVs

Xie

Veitch

2019

Intl J Robust & Nonlinear

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Summary This paper presents two nested input saturation control schemes for a special class of multiple vector integrators with bounded additive disturbances. The considered systems originate from the motion control of rotary‐wing unmanned aerial vehicles (UAVs). The first scheme is based on a feedforward form, which requires state transformation and can be applied to stabilize arbitrary order vector integrator systems. The second scheme is constructed with original state variables using a new approach, applied here to double vector integrator systems. The capability of handling external disturbance using the two schemes is also analyzed. The two schemes are applied to design motion controllers for rotary‐wing UAVs and simulation results are provided to show the performances of two controllers.

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Section: Nested Backstepping Controlmentioning

confidence: 99%

“…To minimize the effect of disturbances, a state‐of‐the‐art approach is active disturbance rejection control (ADRC) . In the work of Ran et al, an ADRC‐based control law incorporating input saturation is proposed to locally stabilize a class of nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

Nested saturation control of multiple vector integrators and its application to motion control of UAVs

Xie

Veitch

2019

Intl J Robust & Nonlinear

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“…Consider the closed-loop system (10) of HRV. 36 Let O 0 be a compact subset of R 3 . For any S 2 ð0; kb 0 kÞ, (19)- (22) and (27)- (30) are satisfied with the initial condition of the closed-loop system as ðXð0Þ; ð0ÞÞ 2 O 1 Â O 0 .…”

Section: Stability Analysis Of Closed-loop Systemmentioning

confidence: 99%

“…Consider the tracking error system (10) of HRV with TD (11), NLESO (14), and controller (18). 36 Conditions (27), (28), (29), and (30) are satisfied with ðXð0Þ; ð0ÞÞ 2…”

Section: Stability Analysis Of Closed-loop Systemmentioning

confidence: 99%

Active disturbance rejection attitude control for a hypersonic reentry vehicle with actuator saturation

Yang¹,

Yu²,

Wang³

et al. 2017

International Journal of Advanced Robotic Systems

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In this article, nonlinear uncertainty has been investigated for a hypersonic reentry vehicle subject to actuator saturation via active disturbance rejection control technology. A nonlinear extended state observer is designed to estimate "total disturbances," which is compensated with a linear controller. Both convergence of the nonlinear extended state observer and stabilization of the closed-loop system are studied in this article. Some simulation results are given to illustrate the effectiveness of the proposed method.

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“…In another study, an ADRC was adopted to analyze the stabilization of nonlinear systems with actuator saturation. 23 Meanwhile, another work applied an ADRC with an adaptive ESO in the air-fuel ratio control of gasoline engines. 24 In addition, the absolute stability of nonlinear ADRC for single-input and single-output (SISO) systems was analyzed using the circle criterion method.…”

Section: Introductionmentioning

confidence: 99%

Pitching axis control for a satellite camera based on a novel active disturbance rejection controller

Liu

Jin

Zhu

et al. 2017

Advances in Mechanical Engineering

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The pitching axis of a satellite camera is controlled under the weightless environment. A novel active disturbance rejection controller is designed to eliminate the influences of the pitching axis. The novel active disturbance rejection controller is designed based on a new nonlinear function, and thus, this function is first established. The function exhibits better continuity and smoothness than previously available functions, hence, it can effectively improve the high-frequency flutter phenomenon. Therefore, the novel active disturbance rejection controller based on the new nonlinear function can eliminate disturbances of the pitching axis. The novel active disturbance rejection controller is composed of a tracking differentiator, a novel extended state observer, and a novel nonlinear state error feedback. The tracking differentiator is used to arrange the transient process. Nonlinear dynamics, model uncertainty, and external disturbances are extended to a new state. The novel extended state observer is utilized to observe this state. The overtime variation of the system can be predicted and compensated using the novel extended state observer. The novel nonlinear state error feedback is adopted to restrain the residual errors of the system. Finally, simulation experiments are performed, and results show that the novel active disturbance rejection controller exhibits better performance than the traditional active disturbance rejection controller.

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Stabilization of a class of nonlinear systems with actuator saturation via active disturbance rejection control

Cited by 147 publications

References 28 publications

Nested saturation control of multiple vector integrators and its application to motion control of UAVs

Nested saturation control of multiple vector integrators and its application to motion control of UAVs

Active disturbance rejection attitude control for a hypersonic reentry vehicle with actuator saturation

Pitching axis control for a satellite camera based on a novel active disturbance rejection controller

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