title: On performance analysis of ADRC for a class of MIMO lower-triangular nonlinear uncertain systems.
abstract: This paper designs the active disturbance rejection control (ADRC) to achieve desired performance for a class of MIMO lower-triangular nonlinear systems with large uncertainties under un-matched condition. We develop the ADRC with a set of extended state observers, and prove that the closed-loop system can achieve satisfied dynamic performance. The theoretical results illustrate the relationship between the bound of the concerned error and the bandwidth of extend state observers.
authors.affiliation: Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100190, PR China. Electronic address: wenchaoxue@amss.ac.cn.
authors.forename: Wenchao
authors.initials: W
authors.lastname: Xue
authors.affiliation: Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100190, PR China. Electronic address: yhuang@amss.ac.cn.
authors.forename: Yi
authors.initials: Y
authors.lastname: Huang
keywords: Active disturbance rejection control (ADRC); Extended state observer (ESO); Lower-triangular system; Transient performance; Uncertain system