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Design and analysis of time-varying extended state observer
Pu, Zhiqiang; Yuan, Ruyi; Tan, Xiangmin; Yi, Jianqiang; Zhiqiang Pu
2015
Conference Name2015 Chinese Control Conference
Source PublicationProceedings of the 34th Chinese Control Conference, CCC 2015
Conference DateSeptember 11, 2015
Conference PlaceHangzhou, China
AbstractDuring its rapid development in the last few years, extended state observer (ESO) has been split into two typical forms: nonlinear ESO (NESO) and linear ESO (LESO). This paper proposes a novel class of time-varying ESOs (TESOs) which inherit the advantages, and meanwhile conquer the drawbacks, of both NESO and LESO. TESO is designed as a linear time-varying (LTV) form. To tune the time-varying observer gains, TESO error dynamics is first transformed into a canonical (phase-variable) form. Then time-varying PD-eigenvalues are assigned for the canonical system based on differential algebraic spectral theory (DAST). Theorems for stability and estimate error bounds of TESO are given in the presence of unknown disturbances. Comparison simulation is conducted among TESO, LESO, and NESO, which demonstrates the great effectiveness of TESO.
KeywordActive Disturbance Rejection Control Extended State Observer Stability Time-varying Pd-eigenvalue
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/10802
Collection综合信息系统研究中心
Corresponding AuthorZhiqiang Pu
AffiliationInstitute of Automation,Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Pu, Zhiqiang,Yuan, Ruyi,Tan, Xiangmin,et al. Design and analysis of time-varying extended state observer[C],2015.
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