Extended state observer for uncertain lower triangular nonlinear systems subject to stochastic disturbance

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• 作者：Zehao Wu ; Baozhu Guo
• 关键词：Extended state observer ; stochastic disturbance ; lower triangular nonlinear systems
• 刊名：Control Theory and Technology
• 出版年：2016
• 出版时间：August 2016
• 年：2016
• 卷：14
• 期：3
• 页码：179-188
• 全文大小：339 KB
• 刊物类别：Control; Systems Theory, Control; Optimization; Computational Intelligence; Complexity; Control, Rob
• 刊物主题：Control; Systems Theory, Control; Optimization; Computational Intelligence; Complexity; Control, Robotics, Mechatronics;
• 出版者：South China University of Technology and Academy of Mathematics and Systems Science, CAS
• ISSN：2198-0942
• 卷排序：14

文摘

The extended state observer (ESO) is the most important part of an emerging control technology known as active disturbance rejection control to this day, aiming at estimating “total disturbance” from observable measured output. In this paper, we construct a nonlinear ESO for a class of uncertain lower triangular nonlinear systems with stochastic disturbance and show its convergence, where the total disturbance includes internal uncertain nonlinear part and external stochastic disturbance. The numerical experiments are carried out to illustrate effectiveness of the proposed approach.