没有合适的资源?快使用搜索试试~ 我知道了~
首页Active Disturbance Rejection Control for Nonlinear System An Introduction
Active Disturbance Rejection Control for Nonlinear System An Int...
需积分: 9 108 浏览量
更新于2023-05-22
评论
收藏 9.83MB PDF 举报
第一章介绍了自抗扰所能处理的非线性系统,第二章是跟踪微分器的收敛性证明,第三章是扩张状态观测器对各种非线性系统的收敛性证明,第四章讨论基于TDESO的反馈闭环系统的收敛性,第五章是ESO及其下三角系统的镇定收敛性讨论。 每章辅以大量的数值试验并有文献说明和待解决的问题,本书可以作为初学者研究生的教科书和研究者的参考书
资源详情
资源评论
资源推荐

k
k k
k
ACTIVE DISTURBANCE
REJECTION CONTROL
FOR NONLINEAR
SYSTEMS

k
k k
k
ACTIVE DISTURBANCE
REJECTION CONTROL
FOR NONLINEAR
SYSTEMS
AN INTRODUCTION
Bao-Zhu Guo
Academy of Mathematics and Systems Science, Academia Sinica, People’s Republic
of China and University of the Witwatersrand, South Africa
Zhi-Liang Zhao
Shaanxi Normal University, Xi’an, People’s Republic of China

k
k k
k
This edition rst published 2016 © 2016 John Wiley & Sons (Asia) Pte Ltd.
Registered ofce
John Wiley & Sons Singapore Pte. Ltd., 1 Fusionopolis Walk, #07-01 Solaris South Tower, Singapore
138628.
For details of our global editorial ofces, for customer services and for information about how to apply
for permission to reuse the copyright material in this book please see our website at www.wiley.com.
All Rights Reserved. No part of this publication may be reproduced, stored in a retrieval system or
transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, scanning,
or otherwise, except as expressly permitted by law, without either the prior written permission of the
Publisher, or authorization through payment of the appropriate photocopy fee to the Copyright
Clearance Center. Requests for permission should be addressed to the Publisher, John Wiley & Sons
Singapore Pte. Ltd., 1 Fusionopolis Walk, #07-01 Solaris South Tower, Singapore 138628, tel:
65-66438000, fax: 65-66438008, email: enquiry@wiley.com.
Wiley also publishes its books in a variety of electronic formats. Some content that appears in print
may not be available in electronic books.
Designations used by companies to distinguish their products are often claimed as trademarks. All
brand names and product names used in this book are trade names, service marks, trademarks or
registered trademarks of their respective owners. The Publisher is not associated with any product or
vendor mentioned in this book. This publication is designed to provide accurate and authoritative
information in regard to the subject matter covered. It is sold on the understanding that the Publisher is
not engaged in rendering professional services. If professional advice or other expert assistance is
required, the services of a competent professional should be sought.
Limit of Liability/Disclaimer of Warranty: While the publisher and author have used their best efforts
in preparing this book, they make no representations or warranties with respect to the accuracy or
completeness of the contents of this book and specically disclaim any implied warranties of
merchantability or tness for a particular purpose. It is sold on the understanding that the publisher is
not engaged in rendering professional services and neither the publisher nor the author shall be liable
for damages arising here from. If professional advice or other expert assistance is required, the services
of a competent professional should be sought.
Library of Congress Cataloging-in-Publication Data
Names: Guo, Bao-Zhu, 1962- author. | Zhao, Zhi-Liang, author.
Title: Active disturbance rejection control for nonlinear systems : an
introduction / Bao-Zhu Guo and Zhi-Liang Zhao.
Description: Singapore ; Hoboken, NJ : John Wiley & Sons, 2016. | Includes
bibliographical references and index.
Identiers: LCCN 2016018239 (print) | LCCN 2016025091 (ebook) | ISBN
9781119239925 (cloth) | ISBN 9781119239956 (pdf) | ISBN 9781119239949
(epub)
Subjects: LCSH: Damping (Mechanics) | Automatic control. | Nonlinear systems.
Classication: LCC TA355 .G79 2016 (print) | LCC TA355 (ebook) | DDC
620.3/7–dc23
LC record available at https://lccn.loc.gov/2016018239
A catalogue record for this book is available from the British Library.
Set in 10/12pt, TimesLTStd by SPi Global, Chennai, India.
1 2016

k
k k
k
Contents
Preface ix
1 Introduction 1
1.1 Problem Statement 1
1.2 Overview of Engineering Applications 6
1.3 Preliminaries 9
1.3.1 Canonical Form of ADRC 9
1.3.2 Stability for Nonlinear Systems 18
1.3.3 Stability of Linear Systems 24
1.3.4 Finite-Time Stability of Continuous System 27
1.3.5 Stability of Discontinuous Systems 32
1.3.6 Proof of Theorem 1.3.11 34
1.4 Remarks and Bibliographical Notes 50
2 The Tracking Differentiator (TD) 53
2.1 Linear Tracking Differentiator 55
2.2 Nonlinear Tracking Differentiator 59
2.2.1 Second-Order Nonlinear Tracking Differentiator 60
2.2.2 High-Order Nonlinear Tracking Differentiator 64
2.3 Finite-Time Stable System-Based Tracking Differentiator 69
2.3.1 Convergence of Finite-Time Stable System-Based TD 70
2.3.2 A Second-Order Finite-Time Stable Tracking Differentiator 75
2.4 Illustrative Examples and Applications 77
2.4.1 Comparison of Three Differentiators 77
2.4.2 Applications to Frequency Online Estimation 81
2.4.3 Application to the Boundary Stabilization of Wave Equation 85
2.5 Summary and Open Problems 88
2.6 Remarks and Bibliographical Notes 89

k
k k
k
vi Contents
3 Extended State Observer 93
3.1 Linear Extended State Observer for SISO Systems 94
3.2 Nonlinear Extended State Observer for SISO Systems 100
3.2.1 Nonlinear ESO for SISO Systems 101
3.2.2 Some Special ESO 109
3.3 The ESO for SISO Systems with Time-Varying Gain 119
3.4 The ESO for MIMO Systems with Uncertainty 133
3.4.1 ESO for Systems with Total Disturbance 133
3.4.2 ESO for Systems with External Disturbance Only 141
3.4.3 Examples and Numerical Simulations 144
3.5 Summary and Open Problems 150
3.6 Remarks and Bibliographical Notes 153
4 The Active Disturbance Rejection Control 155
4.1 Linear ADRC for SISO Systems 157
4.1.1 Global Convergence of Linear ADRC for SISO Systems 157
4.1.2 Global Convergence for Systems with External Disturbance Only 167
4.1.3 Semi-Global Convergence of LADRC 176
4.1.4 Numerical Simulations 183
4.2 Nonlinear ADRC for SISO Systems 187
4.2.1 Global ADRC for SISO Systems with Total Disturbance 187
4.2.2 Global ADRC for SISO System with External Disturbance Only 195
4.2.3 Semi-global ADRC for SISO System with Vast Uncertainty 203
4.2.4 Examples and Numerical Simulations 204
4.3 ADRC with Ti me-Varying Tuning Parameter 206
4.4 Nonlinear ADRC for MIMO Systems with Vast Uncertainty 228
4.4.1 Semi-Global ADRC for MIMO Systems with Uncertainty 231
4.4.2 Global ADRC for MIMO Systems with Uncertainty 238
4.4.3 Global ADRC for MIMO Systems with External Disturbance Only 245
4.4.4 Numerical Simulations 250
4.5 IMP Versus ADRC 252
4.6 HGC and SMC Versus ADRC 263
4.7 Applications to PMSMs 267
4.8 Application to Wave Equation with Uncertainty 270
4.8.1 Control Design 271
4.8.2 Proof of Theorem 4.8.1 279
4.9 Summary and Open Problems 287
4.10 Remarks and Bibliographical Notes 289
5 ADRC for Lower Triangular Nonlinear Systems 291
5.1 ESO for Lower Triangular Systems 291
5.1.1 Constant High-Gain ESO 292
5.1.2 Time-Varying Gain ESO 301
5.1.3 Numerical Simulation 306
剩余355页未读,继续阅读













安全验证
文档复制为VIP权益,开通VIP直接复制

评论0