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Design and analysis of time-varying extended state observer
Pu, Zhiqiang; Yuan, Ruyi; Tan, Xiangmin; Yi, Jianqiang; Zhiqiang Pu
2015
会议名称2015 Chinese Control Conference
会议录名称Proceedings of the 34th Chinese Control Conference, CCC 2015
会议日期September 11, 2015
会议地点Hangzhou, China
摘要During 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.
关键词Active Disturbance Rejection Control Extended State Observer Stability Time-varying Pd-eigenvalue
收录类别EI
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/10802
专题综合信息系统研究中心
通讯作者Zhiqiang Pu
作者单位Institute of Automation,Chinese Academy of Sciences
推荐引用方式
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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