Output Tracking for a Class of Uncertain Nonlinear Systems with Limited Bandwidth Power
The challenge posed by the high-gain issue in the extended state observer of active disturbance rejection control has long been a formidable obstacle.In this study,we explore output tracking for a specific category of n-th order nonlinear systems characterized by in-ternal uncertainties and external disturbances.Firstly,we design a high-gain extended state observer with limited bandwidth power,aimed at real-time estimation of both the system state and the total disturbances.We then introduce a feedback control mechanism rooted in the extended state observer,wherein the total disturbance is compensated by its estimated value.Our analysis demonstrates the practical convergence of the closed-loop system:specif-ically,the tracking error can be made to converge to any arbitrarily small neighborhood of the origin.A noteworthy improvement in this approach is the significant reduction in gain power for the extended state observer.Compared to the traditional extended state observer,our method reduces the gain power from n+1 to just 2.This substantial decrease promises more stable and efficient system performance.To validate the efficacy of our proposed control method,we present numerical simulations that offer compelling evidence of its practicality and effectiveness.
active disturbance rejection controlnonlinear systemoutput trackinguncer-tainty
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