Asymptotic Tracking Control for Mismatched Uncertain Systems with Active Disturbance Rejection

Abstract

By introducing a set of exact disturbance estimators, a continuously tracking controller for a class of mismatched uncertain systems with exogenous disturbances will be proposed. The most appealing superiority is that the proposed exact disturbance estimators can not only estimate the external disturbances but also achieve an asymptotic estimation performance. Furthermore, with the help of a set of first-order asymptotic filters and an auxiliary system, the developed control algorithm is able to compensate for these total disturbances feedforwardly. Consequently, the whole closed-loop stability with an asymptotic tracking performance is strictly analyzed, and meanwhile applications are conducted to indicate the effectiveness of the proposed controller.