An Extended State Observer Based Guidance Method for Maneuvering Target Interception

2020 ◽  
Author(s):  
Zenan Zhong ◽  
Enjiao Zhao ◽  
Xin Zheng ◽  
Xinhua Zhao
Keyword(s):  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Maneuvering Target ◽  
Target Interception

Application of Super Twisting Guidance Law Based on Extended State Observer

2013 ◽  
Vol 433-435 ◽  
pp. 1009-1014 ◽  
Author(s):  
Yang Chong ◽  
Ke Zhang
Keyword(s):  
Sliding Mode ◽  
External Disturbance ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Maneuvering Target ◽  
Guidance Law ◽  
Target Acceleration ◽  
Twisting Algorithm ◽  
Miss Distance

In order to intercept high maneuvering target, a super twisting guidance law based on extended state observer (ESO) is proposed. The target acceleration can be defined as external disturbance which can be estimated in ESO and compensated in super twisting guidance law. The super twisting algorithm can effectively decrease the undesired charting which exists in normal sliding mode control. The simulation results which are verified via computer show that this guidance law has strong robustness, target acceleration can be estimated and compensated, and has good miss distance.

scholarly journals Extended-State-Observer-Based Collision-Free Guidance Law for Target Tracking of Autonomous Surface Vehicles with Unknown Target Dynamics

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Shengnan Gao ◽  
Zhouhua Peng ◽  
Dan Wang ◽  
Lu Liu
Keyword(s):  
Target Tracking ◽  
State Observer ◽  
Extended State Observer ◽  
Guidance System ◽  
Extended State ◽  
Reduced Order ◽  
Maneuvering Target ◽  
Guidance Law ◽  
Autonomous Surface Vehicle ◽  
Velocity Information

This paper is concerned with the target tracking problem of an autonomous surface vehicle in the presence of a maneuvering target. The velocity information of target is totally unknown to the follower vehicle, and only the relative distance and angle between the target and follower are obtained. First, a reduced-order extended state observer is used to estimate the unknown relative dynamics due to the unavailable velocity of the target. Based on the reduced-order extended state observer, an antidisturbance guidance law for target tracking is designed. The input-to-state stability of the closed-loop target tracking guidance system is analyzed via cascade theory. Furthermore, the above result is extended to the case that collisions between the target and leader are avoided during tracking, and a collision-free target tracking guidance law is developed. The main feature of the proposed guidance law is twofold. First, the target tracking can be achieved without using the velocity information of the target. Second, collision avoidance can be achieved during target tracking. Simulation results show the effectiveness of the proposed antidisturbance guidance law for tracking a maneuvering target with the arbitrary bounded velocity.

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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