Backstepping Active Disturbance Rejection Control for Lower Triangular Nonlinear Systems With Mismatched Stochastic Disturbances

doi:10.1109/TSMC.2021.3050820

	Backstepping Active Disturbance Rejection Control for Lower Triangular Nonlinear Systems With Mismatched Stochastic Disturbances
	Wu, Ze-Hao 2; Deng, Feiqi 1; Guo, Bao-Zhu 3,4; Wu, Chufen 2; Xiang, Qiaomin 2
刊名	IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
	2021-01-28
页码	15
关键词	Backstepping Nonlinear systems Observers Real-time systems Robust control Attenuation Stochastic systems Active disturbance rejection control (ADRC) backstepping control extended state observer (ESO) lower triangular nonlinear systems mismatched bounded stochastic disturbances output tracking
ISSN号	2168-2216
DOI	10.1109/TSMC.2021.3050820
英文摘要	In this article, we apply the active disturbance rejection control (ADRC) to the output tracking of a class of lower triangular nonlinear systems subject to mismatched bounded stochastic disturbances of unknown statistic characteristics and nonvanishing at the origin. A major obstacle is that the paths of the stochastic disturbances are nowhere differentiable almost surely which causes that the stochastic disturbances cannot be refined into the control input channel by the usual way of state transformation. To overcome this obstacle, a set of second-order extended state observers is first designed to estimate, in real time, the disturbance in each channel, and then a backstepping ADRC based on feedforward compensation and a constructive backstepping procedure is developed, guaranteeing that the closed-loop output tracks a time-varying reference signal in practically mean square and the closed-loop states are practically bounded in probability first defined in this article. Finally, some numerical simulations are presented to validate the effectiveness of the proposed backstepping ADRC approach.
资助项目	National Natural Science Foundation of China[61903087] ; National Natural Science Foundation of China[62073144] ; National Natural Science Foundation of China[61733008] ; National Natural Science Foundation of China[61873260] ; National Natural Science Foundation of China[12071074] ; National Natural Science Foundation of China[11901091] ; Natural Science Foundation of Guangdong Province[2018A030310357] ; Natural Science Foundation of Guangdong Province[2018A1660005]
WOS研究方向	Automation & Control Systems ; Computer Science
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000732217600001
内容类型	期刊论文
源URL	[http://ir.amss.ac.cn/handle/2S8OKBNM/59733]
专题	中国科学院数学与系统科学研究院
通讯作者	Deng, Feiqi
作者单位	1.South China Univ Technol, Syst Engn Inst, Guangzhou 510640, Peoples R China 2.Foshan Univ, Sch Math & Big Data, Foshan 528000, Peoples R China 3.North China Elect Power Univ, Sch Math & Phys, Beijing 102206, Peoples R China 4.Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Wu, Ze-Hao,Deng, Feiqi,Guo, Bao-Zhu,et al. Backstepping Active Disturbance Rejection Control for Lower Triangular Nonlinear Systems With Mismatched Stochastic Disturbances[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2021:15.
APA	Wu, Ze-Hao,Deng, Feiqi,Guo, Bao-Zhu,Wu, Chufen,&Xiang, Qiaomin.(2021).Backstepping Active Disturbance Rejection Control for Lower Triangular Nonlinear Systems With Mismatched Stochastic Disturbances.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,15.
MLA	Wu, Ze-Hao,et al."Backstepping Active Disturbance Rejection Control for Lower Triangular Nonlinear Systems With Mismatched Stochastic Disturbances".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS (2021):15.