an:06818059
Zbl 1386.93085
Gao, Fang; Wu, Min; She, Jinhua; Cao, Weihua
Active disturbance rejection in affine nonlinear systems based on equivalent-input-disturbance approach
EN
Asian J. Control 19, No. 5, 1767-1776 (2017).
00370633
2017
j
93B35 93C10 93C73 93D30 93C15
disturbance rejection; equivalent input disturbance (EID); linear matrix inequality (LMI); differential mean value theorem; affine nonlinear system
Summary: This paper presents a disturbance rejection method for an affine nonlinear system. The control system is constructed based on the equivalent-input-disturbance (EID) approach. An affine nonlinear state observer is used to reconstruct the state of the affine nonlinear system and to estimate an EID. The well-known differential mean value theorem enables us to describe the closed-loop system in the state space as a linear-parameter-varying system. This makes it easy to derive sufficient conditions of global uniform ultimate boundedness in term of linear matrix inequalities (LMIs) by using a Lyapunov function and convexity theory. Controllers are designed based on the LMIs. A numerical example is used to illustrate the design of the control system. And a comparison between the EID-based control and the sliding-mode control demonstrates the effectiveness and advantages of the EID-based control method.