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Based on the switched nonlinear system, a switched adaptive Active Disturbance Rejection Control (ADRC) law is proposed for the Variable Structure Near Space Vehicle (VSNSV) with unknown uncertainties and external disturbances. The reduced-order Extended State Observers (ESOs) are constructed for the attitude angle system and the angular rate system to estimate the total disturbance in real time. With the extended state introduced to counteract the effects of uncertainties and disturbances, a systematic procedure is presented for the synthesis of the switched adaptive ADRC strategy. Rigorous proof shows that the estimation errors of the reduced-order ESOs would converge to a small neighborhood of zero in finite time, and that the output of the closed-loop system can track a given signal stably for a class of switching signals with average dwell time via the proposed approach. The variable gain control strategy based on Adaptive Dynamic Programming (ADP) with the actor-critic structure is also designed to improve the dynamic performance of the system. Simulation results verify the effectiveness and advantage of the proposed control scheme.
Dong et al. (Thu,) studied this question.