TY - GEN
T1 - A new extended state observer for output tracking of nonlinear MIMO systems
AU - Zhao, Zhi Liang
AU - Guo, Bao Zhu
AU - Jiang, Zhong Ping
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/6/28
Y1 - 2017/6/28
N2 - In this paper, we investigate the output tracking problem for a class of nonlinear uncertain multi-input multi-output (MIMO) systems by active disturbance rejection control (ADRC) approach. A new extended state observer (ESO) is developed to estimate both the unmeasured state and uncertainty, which produces smaller peaking value and higher accuracy compared with existing linear ESO under the same tuning gain. An output feedback controller is designed based on the proposed ESO to compensate the total disturbance. The practical convergence of ESO and output tracking are established. Numerical simulations are presented to illustrate the effectiveness and advantages of the proposed method in terms of peaking value reduction and high accuracy tracking.
AB - In this paper, we investigate the output tracking problem for a class of nonlinear uncertain multi-input multi-output (MIMO) systems by active disturbance rejection control (ADRC) approach. A new extended state observer (ESO) is developed to estimate both the unmeasured state and uncertainty, which produces smaller peaking value and higher accuracy compared with existing linear ESO under the same tuning gain. An output feedback controller is designed based on the proposed ESO to compensate the total disturbance. The practical convergence of ESO and output tracking are established. Numerical simulations are presented to illustrate the effectiveness and advantages of the proposed method in terms of peaking value reduction and high accuracy tracking.
UR - http://www.scopus.com/inward/record.url?scp=85046158083&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2017.8264674
DO - 10.1109/CDC.2017.8264674
M3 - Conference contribution
AN - SCOPUS:85046158083
T3 - 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
SP - 6732
EP - 6737
BT - 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 56th IEEE Annual Conference on Decision and Control, CDC 2017
Y2 - 12 December 2017 through 15 December 2017
ER -