A Novel Extended State Observer for Output Tracking of MIMO Systems With Mismatched Uncertainty

doi:10.1109/TAC.2017.2720419

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	A Novel Extended State Observer for Output Tracking of MIMO Systems With Mismatched Uncertainty
	Zhao, Zhi-Liang 1; Guo, Bao-Zhu2,3
	2018
发表期刊	IEEE TRANSACTIONS ON AUTOMATIC CONTROL
ISSN	0018-9286
卷号	63 期号:1 页码:211-218
摘要	In this paper, we develop a novel extended state observer (ESO), in terms of tracking error only, for output tracking of a class of multi-input multioutput systems with mismatched uncertainty. A novel ESO is constructed from the nonsmooth function "fal" to estimate both uncertainty and state of the system. An ESO-based output feedback controller is then designed to compensate (cancel) the uncertainty and to achieve the output tracking. The convergence of the closed-loop system is proved. The effectiveness of the proposed method is demonstrated by numerical results of trajectory tracking for a practical autonomous underwater vehicle model. We show that in the presence of measurement noise, this novel ESO leads to better performance than the linear ESO. Moreover, this type of ESO has much smaller peaking value than the linear ESO under the same tuning gain.
关键词	Extended state observer (ESO) multi-input multioutput (MIMO) systems nonlinear systems output tracking uncertainty
DOI	10.1109/TAC.2017.2720419
语种	英语
资助项目	National Natural Science Foundation of China[61403242] ; Nature Science Research Program of Shaanxi Province-Key Program[2016JZ023] ; Fundamental Research Funds for the Central University[GK201702013]
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic
WOS记录号	WOS:000419089000017
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/27123
专题	系统科学研究所
通讯作者	Zhao, Zhi-Liang
作者单位	1.Shaanxi Normal Univ, Sch Math & Informat Sci, Xian 710119, Shaanxi, Peoples R China 2.Acad Sinica, Acad Math & Syst Sci, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Zhao, Zhi-Liang,Guo, Bao-Zhu. A Novel Extended State Observer for Output Tracking of MIMO Systems With Mismatched Uncertainty[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL,2018,63(1):211-218.
APA	Zhao, Zhi-Liang,&Guo, Bao-Zhu.(2018).A Novel Extended State Observer for Output Tracking of MIMO Systems With Mismatched Uncertainty.IEEE TRANSACTIONS ON AUTOMATIC CONTROL,63(1),211-218.
MLA	Zhao, Zhi-Liang,et al."A Novel Extended State Observer for Output Tracking of MIMO Systems With Mismatched Uncertainty".IEEE TRANSACTIONS ON AUTOMATIC CONTROL 63.1(2018):211-218.