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A Novel Extended State Observer for Output Tracking of MIMO Systems With Mismatched Uncertainty
Zhao, Zhi-Liang1; Guo, Bao-Zhu2,3
AbstractIn 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.
KeywordExtended state observer (ESO) multi-input multioutput (MIMO) systems nonlinear systems output tracking uncertainty
Funding ProjectNational 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 Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000419089000017
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Document Type期刊论文
Corresponding AuthorZhao, Zhi-Liang
Affiliation1.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
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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.
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