Extended state observer for uncertain lower triangular nonlinear systems

doi:10.1016/j.sysconle.2015.09.004

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	Extended state observer for uncertain lower triangular nonlinear systems
	Zhao, Zhi-Liang 1; Guo, Bao-Zhu2,3
	2015-11-01
发表期刊	SYSTEMS & CONTROL LETTERS
ISSN	0167-6911
卷号	85 页码:100-108
摘要	The extended state observer (ESO) is a key part of the active disturbance rejection control approach, a new control strategy in dealing with large uncertainty. In this paper, a nonlinear ESO is designed for a kind of lower triangular nonlinear systems with large uncertainty. The uncertainty may come from unmodeled system dynamics and external disturbance. We first investigate a nonlinear ESO with high constant gain and present a practical convergence. Two types of ESO are constructed with explicit error estimations. Secondly, a time varying gain ESO is proposed for reducing peaking value near the initial time caused by constant high gain approach. The numerical simulations are presented to show visually the peaking value reduction. The mechanism of peaking value reduction by time varying gain approach is analyzed. (C) 2015 Elsevier B.V. All rights reserved.
关键词	Extended state observer Nonlinear systems Uncertainty
DOI	10.1016/j.sysconle.2015.09.004
语种	英语
资助项目	National Natural Science Foundation of China[61403242] ; Fundamental Research Funds for the Central University[GK201402003]
WOS研究方向	Automation & Control Systems ; Operations Research & Management Science
WOS类目	Automation & Control Systems ; Operations Research & Management Science
WOS记录号	WOS:000364884300014
出版者	ELSEVIER SCIENCE BV
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/21186
专题	系统科学研究所
通讯作者	Guo, Bao-Zhu
作者单位	1.Shaanxi Normal Univ, Sch Math & Informat Sci, Xian 710062, Shaanxi, Peoples R China 2.Acad Sinica, Acad Math & Syst Sci, Key Lab Syst Control, Beijing 100190, Peoples R China 3.Univ Witwatersrand, Sch Comp Sci & Appl Math, ZA-2050 Johannesburg, Johannesburg, South Africa
推荐引用方式 GB/T 7714	Zhao, Zhi-Liang,Guo, Bao-Zhu. Extended state observer for uncertain lower triangular nonlinear systems[J]. SYSTEMS & CONTROL LETTERS,2015,85:100-108.
APA	Zhao, Zhi-Liang,&Guo, Bao-Zhu.(2015).Extended state observer for uncertain lower triangular nonlinear systems.SYSTEMS & CONTROL LETTERS,85,100-108.
MLA	Zhao, Zhi-Liang,et al."Extended state observer for uncertain lower triangular nonlinear systems".SYSTEMS & CONTROL LETTERS 85(2015):100-108.