On the convergence of an extended state observer for nonlinear systems with uncertainty
On the convergence of an extended state observer for nonlinear systems with uncertainty
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DOI：
10.1016/j.sysconle.2011.03.008
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发表时间：
2011-06-01
影响因子：
2.6
通讯作者：
Zhao, Zhi-liang
中科院分区：
文献类型：
--
作者：
Guo, Bao-Zhu;Zhao, Zhi-liang
本文研究了由韩京清在[J.Q.不确定系统的一类扩张状态观测器。控制决策。10（1）（1995）85-88]是自抗扰控制的关键环节，自抗扰控制技术在工程上得到了大量成功的应用，正在成为一项技术。不幸的是，迄今为止还没有严格的收敛性证明。在本文中，我们试图解决这个长期未解决的特殊问题。其主要思想是将带有扩张状态观测器的目标系统的误差方程转化为具有小扰动的渐近稳定系统，通过高增益消除总扰动误差的影响。(C)2011 Elsevier B. V.保留所有权利。
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.