An Overview on Recent Progress of Extended State Observers for Uncertain Systems: Methods, Theory and Applications†

2021 ◽  
Author(s):  
Xiaoyan Zhang ◽  
Xiaocheng Zhang ◽  
Wenchao Xue ◽  
Bin Xin
Keyword(s):  
Uncertain Systems ◽  
Recent Progress ◽  
Extended State ◽  
State Observers

Interaction Force Estimation Using Extended State Observers: An Application to Impedance-Based Assistive and Rehabilitation Robotics

2019 ◽  
Vol 4 (2) ◽  
pp. 1156-1161 ◽  
Author(s):  
Gijo Sebastian ◽  
Zeyu Li ◽  
Vincent Crocher ◽  
Demy Kremers ◽  
Ying Tan ◽  
...  
Keyword(s):  
Interaction Force ◽  
Rehabilitation Robotics ◽  
Extended State ◽  
Force Estimation ◽  
State Observers

scholarly journals Prescribed Performance Control with Sliding-Mode Dynamic Surface for a Glue Pump Motor Based on Extended State Observers

Actuators ◽  
2021 ◽  
Vol 10 (11) ◽  
pp. 282
Author(s):  
Peiyu Wang ◽  
Liangkuan Zhu ◽  
Chunrui Zhang ◽  
Chengcheng Wang ◽  
Kangming Xiao
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Dynamic Surface Control ◽  
Extended State ◽  
Dynamic Surface ◽  
Performance Control ◽  
Prescribed Performance ◽  
Compound Control ◽  
Prescribed Performance Control ◽  
State Observers

The actuator of a particleboard glue-dosing system, the glue pump motor, is affected by external disturbances and unknown uncertainty. In order to achieve accurate glue-flow tracking, in this paper, a glue pump motor compound control method was designed. First, the prescribed performance control method is used to improve the transient behaviors, and the error of the glue flow tracking is guaranteed to converge to a preset range, as a result of the design of an appropriate performance function. Second, two extended state observers were designed to estimate the state vector and the disturbance, in order to improve the robustness of the controlled system. To further strengthen the steady-state performance of the system, the sliding-mode dynamic surface control method was introduced to compensate for uncertainties and disturbances. Finally, a Lyapunov stability analysis was conducted, in order to prove that all of the signals are bounded in a closed-loop system, and the effectiveness and feasibility of the proposed method were verified through numerical simulation.

Anti-disturbance trajectory tracking of quadrotor vehicles via generalized extended state observer

2019 ◽  
Vol 26 (13-14) ◽  
pp. 1173-1186 ◽  
Author(s):  
Di Shi ◽  
Zhong Wu ◽  
Wusheng Chou
Keyword(s):  
Trajectory Tracking ◽  
Ground Effect ◽  
State Observer ◽  
Extended State Observer ◽  
Wind Gust ◽  
Extended State ◽  
Multiple Disturbances ◽  
State Observers ◽  
Low Altitude ◽  
The Impact

During the trajectory tracking process and low altitude flight of quadrotor, wind gust and ground effect will significantly affect the accuracy and stability of the controller. Therefore, it is vital for a quadrotor to have a robust controller against multiple disturbances. To mitigate this challenge, an active anti-disturbance control strategy based on generalized extended state observer is proposed in this article. Firstly, quadrotor dynamics is modeled as cascaded translational and rotational loops, and the characteristics of wind gust and ground effect are analyzed. Secondly, two generalized extended state observers are constructed for those loops respectively to estimate and attenuate the impact of wind gust and ground effect, and the position and attitude controller are designed based on backstepping method. Finally, real time experiments are carried out on hovering and circle trajectory tracking conditions. The results illustrate that the proposed controller has more advantages in high precision trajectory tracking and low altitude flight of quadrotor in existence of multiple disturbances.

Robust State of Charge estimation for Li-ion batteries based on Extended State Observers

2020 ◽  
Vol 31 ◽  
pp. 101718
Author(s):  
Marco A. Sandoval-Chileño ◽  
Luis A. Castañeda ◽  
Alberto Luviano-Juárez ◽  
Octavio Gutiérrez-Frías ◽  
Jorge Vazquez-Arenas
Keyword(s):  
State Of Charge ◽  
Li Ion Batteries ◽  
Extended State ◽  
State Observers ◽  
Li Ion ◽  
State Of Charge Estimation
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