Suboptimal Control of Unknown Second-order Nonlinear Systems with Guaranteed Global Convergence
arXiv:2002.10023 · doi:10.1109/LCSYS.2022.3184647
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.
6 pages, 4 figures, accepted for publication in IEEE Control Systems Letters