Generalized Extended State Observer Based Control for Systems With Mismatched Uncertainties
Generalized Extended State Observer Based Control for Systems With Mismatched Uncertainties
复制标题
具有不匹配不确定性的系统的基于广义扩展状态观测器的控制
DOI：
10.1109/tie.2011.2182011
复制
发表时间：
2012-12-01
影响因子：
7.7
通讯作者：
Chen, Xisong
中科院分区：
文献类型：
--
作者：
Li, Shihua;Yang, Jun;Chen, Xisong
基于标准扩张状态观测器的控制（ESOBC）方法仅适用于一类具有匹配不确定性的单输入单输出本质积分链系统。需要注意的是，具有非积分链形式和不匹配不确定性的系统更为普遍，且广泛存在于实际工程系统中，此时标准的ESOBC方法不再适用。为此，有必要为这些系统探索新的ESOBC方法以扩展其适用性。通过适当选择一个扰动补偿增益，针对具有不匹配不确定性的非积分链系统，在无需任何坐标变换的情况下，提出了一种广义的ESOBC（GESOBC）方法。所提方法几乎无需修改就能够扩展到多输入多输出系统。数值和应用设计实例都证明了所提方法的可行性和有效性。
The standard extended state observer based control (ESOBC) method is only applicable for a class of single-input-single-output essential-integral-chain systems with matched uncertainties. It is noticed that systems with nonintegral-chain form and mismatched uncertainties are more general and widely exist in practical engineering systems, where the standard ESOBC method is no longer available. To this end, it is imperative to explore new ESOBC approach for these systems to extend its applicability. By appropriately choosing a disturbance compensation gain, a generalized ESOBC (GESOBC) method is proposed for nonintegral-chain systems subject to mismatched uncertainties without any coordinate transformations. The proposed method is able to extend to multi-input-multi-output systems with almost no modification. Both numerical and application design examples demonstrate the feasibility and efficacy of the proposed method.