On the convergence of an extended state observer for nonlinear systems with uncertainty

被引:1111
作者
Guo, Bao-Zhu [1 ,2 ,3 ,4 ]
Zhao, Zhi-liang [1 ]
机构
[1] Univ Sci & Technol China, Dept Math, Hefei 230026, Anhui, Peoples R China
[2] Acad Sinica, Acad Math & Syst Sci, Beijing 100080, Peoples R China
[3] Univ Witwatersrand, Sch Computat & Appl Math, ZA-2050 Johannesburg, South Africa
[4] Shanxi Univ, Sch Math Sci, Taiyuan 030006, Peoples R China
基金
中国国家自然科学基金;
关键词
Extended state observer; Nonlinear systems; Uncertainty; DISTURBANCE REJECTION CONTROL; ORDER OBSERVERS; LINEAR-SYSTEMS;
D O I
10.1016/j.sysconle.2011.03.008
中图分类号
TP [自动化技术、计算机技术];
学科分类号
080201 [机械制造及其自动化];
摘要
The extended state observer first proposed by Jingqing Han in [J.Q. Han, A class of extended state observers for uncertain systems. Control Decis. 10 (1) (1995) 85-88 (in Chinese)] is the key link toward the active disturbance rejection control that is taking off as a technology after numerous successful applications in engineering. Unfortunately, there is no rigorous proof of convergence to date. In this paper, we attempt to tackle this long unsolved extraordinary problem. The main idea is to transform the error equation of objective system with its extended state observer into a asymptotical stable system with a small disturbance, for which the effect of total disturbance error is eliminated by the high-gain. (C) 2011 Elsevier B.V. All rights reserved.
引用
收藏
页码:420 / 430
页数:11
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