Suboptimal Control of Unknown Second-order Nonlinear Systems with Guaranteed Global Convergence
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Publication:6335423
arXiv2002.10023MaRDI QIDQ6335423
Author name not available (Why is that?)
Publication date: 23 February 2020
Abstract: A suboptimal active disturbance rejection controller (S-ADRC) is proposed for second-order systems with unknown time-varying nonlinear dynamics. The output-feedback controller guarantees a global convergence to the vicinity of an optimal solution by means of dynamic control gains, based on the estimated main and extended state variables obtained through a high-gain observer. Three numerical examples compare the performance of the proposed control scheme applied to linear and nonlinear systems with that of a fixed-gain conventional ADRC as well as several model-based optimal and suboptimal controllers.
Has companion code repository: https://github.com/a-shakouri/s-adrc
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