Asymptotic Tracking Control for Mismatched Uncertain Systems with Active Disturbance Rejection

Guichao Yang and Longfei Cui ()
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Guichao Yang: School of Mechanical and Power Engineering, Nanjing Tech University, Nanjing 211816, China
Longfei Cui: Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China

Mathematics, 2024, vol. 12, issue 3, 1-12

Abstract: By introducing a set of exact disturbance estimators, a continuously tracking controller for a class of mismatched uncertain systems with exogenous disturbances will be proposed. The most appealing superiority is that the proposed exact disturbance estimators can not only estimate the external disturbances but also achieve an asymptotic estimation performance. Furthermore, with the help of a set of first-order asymptotic filters and an auxiliary system, the developed control algorithm is able to compensate for these total disturbances feedforwardly. Consequently, the whole closed-loop stability with an asymptotic tracking performance is strictly analyzed, and meanwhile applications are conducted to indicate the effectiveness of the proposed controller.

Keywords: tracking control; nonlinear systems; disturbance estimator; disturbance observer; asymptotic estimation; asymptotic tracking; active disturbance rejection (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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