Nonlinear Dynamics

, Volume 95, Issue 2, pp 1415–1434 | Cite as

Nonlinear sampled-data ESO-based active disturbance rejection control for networked control systems with actuator saturation

  • Yang Yu
  • Yuan YuanEmail author
  • Hongjiu Yang
  • Huaping Liu
Original Paper


This paper proposes a framework of anti-windup active disturbance rejection control for the networked control systems (NCSs) subjected to actuator saturation. The sensor-to-controller network is considered where only one sensor can report its measurements at each transmission instant. Both the round-robin and try-once-discard protocols are applied, respectively, to determine which sensor should be given the access to the network at a certain instant. To reflect the impact of communication constraints, a nonlinear sampled-data extended state observer (NSESO) is employed to estimate the states and ignored nonlinearities of the addressed system. Then, a composite control strategy with an anti-windup compensator is designed based on the NSESO, and the effects of actuator saturation is eliminated by the anti-windup compensator. The sufficient conditions to guarantee the convergence of the NSESO are provided, and then the input-to-state stability of the overall NCSs is given as well. Finally, a numerical example is introduced to demonstrate the effectiveness of the proposed design technique.


Networked control systems Active disturbance rejection control Nonlinear sampled-data extended state observer Actuator saturation 



This work was funded by the National Natural Science Foundation of China (Grant Number 11572248).

Compliance with ethical standards

Conflict of interest

The authors declare that they have no conflict of interest.


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Copyright information

© Springer Nature B.V. 2018

Authors and Affiliations

  1. 1.School of AstronauticsNorthwestern Polytechnical UniversityXi’anChina
  2. 2.Department of Computer ScienceBrunel University LondonUxbridgeUK
  3. 3.School of Electrical EngineeringYanshan UniversityQinhuangdaoChina
  4. 4.Department of Computer Science and TechnologyTsinghua UniversityBeijingChina

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