On Convergence of Extended State Observer for a Class of MIMO Uncertain Stochastic Nonlinear Systems
Extended state observer (ESO) is the key part of active disturbance rejection control, a new control strategy motivated and developed highly from PID's model-free feature. In this paper, both constant gain ESO and time-varying gain ESO are proposed for a class of multi-input multi-output uncert...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2018-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8390910/ |
| _version_ | 1819179529535488000 |
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| author | Zehao Wu Guoshun Huang Chufen Wu Chunwan Lv Lingxin Bao |
| author_facet | Zehao Wu Guoshun Huang Chufen Wu Chunwan Lv Lingxin Bao |
| author_sort | Zehao Wu |
| collection | DOAJ |
| description | Extended state observer (ESO) is the key part of active disturbance rejection control, a new control strategy motivated and developed highly from PID's model-free feature. In this paper, both constant gain ESO and time-varying gain ESO are proposed for a class of multi-input multi-output uncertain stochastic nonlinear systems subject to vast stochastic uncertainties. The total stochastic uncertainties in each subsystem including unmodeled dynamics, unknown stochastic inverse dynamics, external stochastic disturbance without known statistical characteristics, and uncertain nonlinear interactions between subsystems are regarded as the stochastic total disturbance (extended state) of each subsystem of the plant. The constant gain ESO and time-varying gain ESO are designed for the estimation of not only the unmeasured state but also the stochastic total disturbance of each subsystem in real time, and the corresponding mean square convergence of these two classes of ESOs are developed rigorously. Some numerical simulations are presented to demonstrate the effectiveness of estimation by ESO approach and the peaking value reduction by the time-varying gain ESO. |
| first_indexed | 2024-12-22T21:59:54Z |
| format | Article |
| id | doaj.art-799f7a94792e44f2915d4402c389310d |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-22T21:59:54Z |
| publishDate | 2018-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-799f7a94792e44f2915d4402c389310d2022-12-21T18:11:09ZengIEEEIEEE Access2169-35362018-01-016377583776610.1109/ACCESS.2018.28491998390910On Convergence of Extended State Observer for a Class of MIMO Uncertain Stochastic Nonlinear SystemsZehao Wu0https://orcid.org/0000-0003-4109-1757Guoshun Huang1Chufen Wu2Chunwan Lv3Lingxin Bao4School of Mathematics and Big Data, Foshan University, Foshan, ChinaSchool of Mathematics and Big Data, Foshan University, Foshan, ChinaSchool of Mathematics and Big Data, Foshan University, Foshan, ChinaSchool of Mathematics and Big Data, Foshan University, Foshan, ChinaSchool of Computer and Information, Fujian Agriculture and Forestry University, Fuzhou, ChinaExtended state observer (ESO) is the key part of active disturbance rejection control, a new control strategy motivated and developed highly from PID's model-free feature. In this paper, both constant gain ESO and time-varying gain ESO are proposed for a class of multi-input multi-output uncertain stochastic nonlinear systems subject to vast stochastic uncertainties. The total stochastic uncertainties in each subsystem including unmodeled dynamics, unknown stochastic inverse dynamics, external stochastic disturbance without known statistical characteristics, and uncertain nonlinear interactions between subsystems are regarded as the stochastic total disturbance (extended state) of each subsystem of the plant. The constant gain ESO and time-varying gain ESO are designed for the estimation of not only the unmeasured state but also the stochastic total disturbance of each subsystem in real time, and the corresponding mean square convergence of these two classes of ESOs are developed rigorously. Some numerical simulations are presented to demonstrate the effectiveness of estimation by ESO approach and the peaking value reduction by the time-varying gain ESO.https://ieeexplore.ieee.org/document/8390910/Extended state observeractive disturbance rejection controlMIMO systemsstochastic uncertaintiesconvergence |
| spellingShingle | Zehao Wu Guoshun Huang Chufen Wu Chunwan Lv Lingxin Bao On Convergence of Extended State Observer for a Class of MIMO Uncertain Stochastic Nonlinear Systems IEEE Access Extended state observer active disturbance rejection control MIMO systems stochastic uncertainties convergence |
| title | On Convergence of Extended State Observer for a Class of MIMO Uncertain Stochastic Nonlinear Systems |
| title_full | On Convergence of Extended State Observer for a Class of MIMO Uncertain Stochastic Nonlinear Systems |
| title_fullStr | On Convergence of Extended State Observer for a Class of MIMO Uncertain Stochastic Nonlinear Systems |
| title_full_unstemmed | On Convergence of Extended State Observer for a Class of MIMO Uncertain Stochastic Nonlinear Systems |
| title_short | On Convergence of Extended State Observer for a Class of MIMO Uncertain Stochastic Nonlinear Systems |
| title_sort | on convergence of extended state observer for a class of mimo uncertain stochastic nonlinear systems |
| topic | Extended state observer active disturbance rejection control MIMO systems stochastic uncertainties convergence |
| url | https://ieeexplore.ieee.org/document/8390910/ |
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