A new extended state observer for uncertain nonlinear systems
Extended state observer (ESO) is a class of high-gain observers and a powerful tool for output feedback control of uncertain nonlinear systems. In this paper, we propose a new ESO design technique which is based on cascading a series of first-order ESOs. Benefited from the cascade design, saturation...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2022
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/159361 |
| _version_ | 1811679889333420032 |
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| author | Ran, Maopeng Li, Juncheng Xie, Lihua |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Ran, Maopeng Li, Juncheng Xie, Lihua |
| author_sort | Ran, Maopeng |
| collection | NTU |
| description | Extended state observer (ESO) is a class of high-gain observers and a powerful tool for output feedback control of uncertain nonlinear systems. In this paper, we propose a new ESO design technique which is based on cascading a series of first-order ESOs. Benefited from the cascade design, saturations can be inserted into the observer internal variables to limit the maximal implemented gain. The convergence of the new ESO with a class of nonlinear gain functions is established, and it is shown that adopting appropriate nonlinear gain mechanisms leads to improvement in measurement noise tolerance. What is more, the new ESO based output feedback control has stronger uncertainty estimation and compensation capability than the standard ESO based output feedback control. Specifically, the proposed approach only relies on the knowledge of the control direction of the uncertain nonlinear system. Finally, the obtained results are applied to suppress the wing rock motion of a slender delta wing. |
| first_indexed | 2024-10-01T03:16:19Z |
| format | Journal Article |
| id | ntu-10356/159361 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:16:19Z |
| publishDate | 2022 |
| record_format | dspace |
| spelling | ntu-10356/1593612022-06-16T04:49:58Z A new extended state observer for uncertain nonlinear systems Ran, Maopeng Li, Juncheng Xie, Lihua School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Extended State Observer Uncertain Nonlinear Systems Extended state observer (ESO) is a class of high-gain observers and a powerful tool for output feedback control of uncertain nonlinear systems. In this paper, we propose a new ESO design technique which is based on cascading a series of first-order ESOs. Benefited from the cascade design, saturations can be inserted into the observer internal variables to limit the maximal implemented gain. The convergence of the new ESO with a class of nonlinear gain functions is established, and it is shown that adopting appropriate nonlinear gain mechanisms leads to improvement in measurement noise tolerance. What is more, the new ESO based output feedback control has stronger uncertainty estimation and compensation capability than the standard ESO based output feedback control. Specifically, the proposed approach only relies on the knowledge of the control direction of the uncertain nonlinear system. Finally, the obtained results are applied to suppress the wing rock motion of a slender delta wing. 2022-06-16T04:49:58Z 2022-06-16T04:49:58Z 2021 Journal Article Ran, M., Li, J. & Xie, L. (2021). A new extended state observer for uncertain nonlinear systems. Automatica, 131, 109772-. https://dx.doi.org/10.1016/j.automatica.2021.109772 0005-1098 https://hdl.handle.net/10356/159361 10.1016/j.automatica.2021.109772 2-s2.0-85109092673 131 109772 en Automatica © 2021 Elsevier Ltd. All rights reserved. |
| spellingShingle | Engineering::Electrical and electronic engineering Extended State Observer Uncertain Nonlinear Systems Ran, Maopeng Li, Juncheng Xie, Lihua A new extended state observer for uncertain nonlinear systems |
| title | A new extended state observer for uncertain nonlinear systems |
| title_full | A new extended state observer for uncertain nonlinear systems |
| title_fullStr | A new extended state observer for uncertain nonlinear systems |
| title_full_unstemmed | A new extended state observer for uncertain nonlinear systems |
| title_short | A new extended state observer for uncertain nonlinear systems |
| title_sort | new extended state observer for uncertain nonlinear systems |
| topic | Engineering::Electrical and electronic engineering Extended State Observer Uncertain Nonlinear Systems |
| url | https://hdl.handle.net/10356/159361 |
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