In this paper, the active disturbance rejection control approach is addressed for a class of lower triangular uncertain stochastic nonlinear systems driven by coloured noises. An extended state observer is first constructed to estimate the stochastic total disturbance including the total effects of internal uncertainties and external disturbances affecting system performance, and then an active disturbance rejection controller based on estimation and compensation is designed to obtain desired closed-loop performance. It is shown with a rigorous analysis that the closed-loop state tracks a reference trajectory generated from the target system in practically mean square and almost sure sense. Some numerical simulations are performed to validate the practicality of the proposed control strategy.

本文针对一类由有色噪声驱动的下三角不确定随机非线性系统提出了主动抗扰控制方法。首先构建扩展状态观测器来估计随机总扰动，包括内部不确定性和外部扰动影响系统性能的总效应，然后设计基于估计和补偿的主动抗扰控制器以获得所需的闭环性能。严格的分析表明，闭环状态以实际均方和几乎肯定的方式跟踪从目标系统生成的参考轨迹。进行了一些数值模拟以验证所提出的控制策略的实用性。