ISSN 0253-2778

CN 34-1054/N

open

Design and analysis of a universal model reference adaptive controller based on extended state observer

  • A universal model reference adaptive control (MRAC) method based on extended state observer (ESO) was presented, which was used to directly estimate states and uncertainties and then compensate the uncertainties. Benefiting from the ESO, we only need to know the order of a system without distinction between linear and nonlinear system, time-varying and time-invariant system, the internal (parameter or structure) uncertainty and the external (disturbance) uncertainty etc. Furthermore, the reference model which meets desired performance index and has the same order with the system can be chosen arbitrarily largely independently of the system structure. Therefore, the controller design process is greatly simplified. After proposing the control architecture, the control law was designed and a strict stability analysis was given. The features mentioned above in addition to strong robustness, small control moment and high steady state accuracy are demonstrated by the simulation results.
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