Adaptive active disturbance rejection control guaranteeing uniformly ultimate boundedness and simplicity

Zhuo Yun Nie, Bing Zhang, Qing Guo Wang, Rui Juan Liu, Ji Liang Luo

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)


The active disturbance rejection control (ADRC) scheme requires a high bandwidth in the extended state observer (ESO), causing heavy noise pollution in the control system. This article develops an effective and simple adaptive ADRC scheme to realize high performance control when ESO bandwidth is limited. The adaptative law is generated by the state tracking error such that all the feedback loops and feedforward channels are activated for active disturbance rejection. An “attached” and “quantified” adaptation is developed to guarantee the easy usage of the proposed scheme. The uniformly ultimate boundedness of all the signals in the closed-loop system is proved in the sense of Lyapunov theory. Finally, two simulation examples are given to demonstrate the results.

Original languageEnglish
Pages (from-to)7278-7294
Number of pages17
JournalInternational Journal of Robust and Nonlinear Control
Issue number17
Publication statusPublished - 25 Nov 2020


  • adaptive control
  • disturbance rejection
  • nonlinear system
  • uniformly ultimate boundedness

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Chemical Engineering
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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