Active disturbance rejection dynamic surface control of time-delay system
HUANG Dong
SUN Guo-fa
Abstract：This paper aims at the control of high-order time-delay systems with both uncertainty and unknown input time-delay. Considering the complexity problem of control signal, on the basis of dynamic surface control method, ac-tive disturbance rejection control (ADRC) is introduced to design active disturbance rejection dynamic surface controller. Backstepping method is employed to develop dynamic surface control signal. Using tracking differentiator (TD) to filter the virtual control signals, the“complexity of explosion”problem of controller is eliminated without duplicate derivative of virtual signal. Disturbance rejection term is added to the actual control signal, which is obtained by extended state ob-server (ESO). Real-time control signal is ensured, while the controller structure is simplified for practical application. In the closed-loop stability proof, Lyapunov theory is employed for detail analysis. Numerical simulation results validate the efficiency of the proposed control scheme.
Keywords：active disturbance rejection controldynamic surface controlextended state observertime-delay systemnonlinear system
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 1501-1507 )