Li Jie, Xia Yuanqing, Qi Xiaohui, Zhao Pengpeng
Department of Unmanned Aerial Vehicle Engineering, Mechanical Engineering College, Shijiazhuang 050003, PR China.
School of Automation, Beijing Institute of Technology, Beijing 100081, PR China.
ISA Trans. 2017 Jul;69:122-130. doi: 10.1016/j.isatra.2017.04.017. Epub 2017 May 2.
Active disturbance rejection control (ADRC) is a relatively new, quite different but very practical control technology, which shows much promise in replacement of proportion-integration-differentiation (PID) with unmistakable advantage in performance and practicality. This paper mainly concerns with the robust absolute stability of the ADRC based control system with parameter perturbations of the plant, i.e., ADRC based interval control system. Firstly, the system is transformed into a perturbed indirect Lurie system. Then, the Popov criterion and its robust version are presented and some new methods are developed to analyze the (robust) absolute stability for the interval control system. Furthermore, an example is presented to illustrate (robust) absolute stability analysis via the above methods, which verifies the convenience and practicability of these methods and shows the strong stability robustness of ADRC in the presence of parametric uncertainties.
自抗扰控制（ADRC）是一种相对较新、截然不同但非常实用的控制技术，在取代比例-积分-微分（PID）方面展现出很大的潜力，在性能和实用性方面具有明显优势。本文主要关注具有对象参数摄动的基于ADRC的控制系统，即基于ADRC的区间控制系统的鲁棒绝对稳定性。首先，将该系统转化为一个摄动间接鲁里叶系统。然后，给出波波夫判据及其鲁棒版本，并开发了一些新方法来分析区间控制系统的（鲁棒）绝对稳定性。此外，给出一个例子来说明通过上述方法进行的（鲁棒）绝对稳定性分析，验证了这些方法的便利性和实用性，并表明在存在参数不确定性的情况下ADRC具有很强的稳定性鲁棒性。
