On Active Disturbance Rejection Control for a Class of Uncertain Systems With Measurement Uncertainty

This article studies the control problem for nonlinear uncertain systems with measurement uncertainty. By seizing the equivalent total effect of multiple uncertainties in both dynamics and measurement, an active disturbance rejection control design is proposed. By timely estimating and compensating for the total effect of various uncertainties, the highly consistent transient performance of tracking is theoretically revealed. Moreover, the relationship between the tracking error and the controller parameters is qualitatively shown. Finally, the simulation and experimental results illustrate the effectiveness of the proposed method.