We propose an output tracking control approach for a class of uncertain, nonlinear systems with unmodeled, sluggish actuator dynamics. The normal extended state observer (ESO) is modified with a nominal model of the largely unknown actuator dynamics. The total disturbance is redefined to include the uncertainties of the actuator dynamics. The feedback law is correspondingly designed to cancel the estimated total disturbance. The closed-loop system is guaranteed with bounded stability through theoretical analysis. The proposed controller is extensively validated and compared to normal active disturbance rejection control (ADRC), nonlinear dynamic inversion control (NDIC), and ${\mathcal{L}}_1$ adaptive control by a numerical example, and a practical application to both the attitude control and velocity control of a hypersonic vehicle, where the deflection of the elevator and the thrust variation of the scramjet engine are considered.

我们为一类具有未建模、迟缓执行器动力学的不确定非线性系统提出了一种输出跟踪控制方法。使用很大程度上未知的执行器动力学的标称模型修改了正常扩展状态观察器 (ESO)。重新定义总干扰以包括执行器动力学的不确定性。反馈律相应地设计为消除估计的总干扰。通过理论分析，保证了闭环系统的有界稳定性。所提出的控制器经过广泛验证，并与正常的主动抗扰控制 (ADRC)、非线性动态逆变控制 (NDIC) 和${\mathcal{大号}}_1$自适应控制的数值例子，以及在高超声速飞行器姿态控制和速度控制中的实际应用，其中考虑了升降舵的偏转和超燃冲压发动机的推力变化。