On the performance of improved extended state observer based control for uncertain systems with measurement noises

2017 ◽  
Author(s):  
Yuying Guo ◽  
Youmin Zhang
Keyword(s):  
Uncertain Systems ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Measurement Noises

scholarly journals Predictive extended state observer-based repetitive controller for uncertain systems with input delay

Automatika ◽  
2021 ◽  
Vol 63 (1) ◽  
pp. 122-131
Author(s):  
V. Artheec Kumar ◽  
Zhenwei Cao ◽  
Zhihong Man ◽  
Raymond Cheui ◽  
Don Bombuwela
Keyword(s):  
Uncertain Systems ◽  
State Observer ◽  
Extended State Observer ◽  
Input Delay ◽  
Extended State ◽  
Repetitive Controller

On Performance Analysis of General Observers for Uncertain Systems

2017 ◽  
Author(s):  
Wenyan Bai ◽  
Chen Sen ◽  
Yi Huang ◽  
Wenchao Xue ◽  
Ping Liu
Keyword(s):  
Disturbance Observer ◽  
Uncertain Systems ◽  
Estimation Error ◽  
High Gain ◽  
State Observer ◽  
Extended State Observer ◽  
Exact Form ◽  
Extended State ◽  
Real State ◽  
General Observer

This paper aims to rigorously study the observer for general uncertain systems. The proposed observer is shown to be the general form of extended state observer (ESO), disturbance observer (DO), generalized extended state observer (GESO) and extended high gain observer (EHGO). The properties of this general observer is discussed by analyzing the estimation error. The paper illustrates that the output of the proposed general observers may not performs as the estimation the real state and uncertainty. We prove that this observer gives the estimations for the group of states and uncertainties whose exact form is given in the paper. Finally, numerical simulations for a typical example validate the theoretical analysis.

scholarly journals Fault-tolerant control for a class of n-order systems based on fast terminal sliding mode and extended state observer

2021 ◽  
pp. 002029402110286
Author(s):  
Pu Yang ◽  
Peng Liu ◽  
ChenWan Wen ◽  
Huilin Geng
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Singular Control ◽  
Fault Tolerant Control ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode ◽  
Terminal Sliding Surface

This paper focuses on fast terminal sliding mode fault-tolerant control for a class of n-order nonlinear systems. Firstly, when the actuator fault occurs, the extended state observer (ESO) is used to estimate the lumped uncertainty and its derivative of the system, so that the fault boundary is not needed to know. The convergence of ESO is proved theoretically. Secondly, a new type of fast terminal sliding surface is designed to achieve global fast convergence, non-singular control law and chattering reduction, and the Lyapunov stability criterion is used to prove that the system states converge to the origin of the sliding mode surface in finite time, which ensures the stability of the closed-loop system. Finally, the effectiveness and superiority of the proposed algorithm are verified by two simulation experiments of different order systems.

Extended state observer–based output feedback control for spacecraft pose tracking with control input saturation

2021 ◽  
pp. 095441002110177
Author(s):  
Kejie Gong ◽  
Ying Liao ◽  
Yafei Mei
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Finite Time ◽  
Output Feedback Control ◽  
State Observer ◽  
Extended State Observer ◽  
Control Input ◽  
Extended State ◽  
Pose Tracking ◽  
Control Scheme

This article proposed an extended state observer (ESO)–based output feedback control scheme for rigid spacecraft pose tracking without velocity feedback, which accounts for inertial uncertainties, external disturbances, and control input constraints. In this research, the 6-DOF tracking error dynamics is described by the exponential coordinates on SE(3). A novel continuous finite-time ESO is proposed to estimate the velocity information and the compound disturbance, and the estimations are utilized in the control law design. The ESO ensures a finite-time uniform ultimately bounded stability of the observation states, which is proved utilizing the homogeneity method. A non-singular finite-time terminal sliding mode controller based on super-twisting technology is proposed, which would drive spacecraft tracking the desired states. The other two observer-based controllers are also proposed for comparison. The superiorities of the proposed control scheme are demonstrated by theory analyses and numerical simulations.

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