A new extended state observer for output tracking of nonlinear MIMO systems

Zhi Liang Zhao, Bao Zhu Guo, Zhong Ping Jiang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6732-6737
Number of pages6
ISBN (Electronic)9781509028733
DOIs
StatePublished - Jan 18 2018
Event56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australia
Duration: Dec 12 2017Dec 15 2017

Publication series

Name2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Volume2018-January

Other

Other56th IEEE Annual Conference on Decision and Control, CDC 2017
CountryAustralia
CityMelbourne
Period12/12/1712/15/17

ASJC Scopus subject areas

  • Decision Sciences (miscellaneous)
  • Industrial and Manufacturing Engineering
  • Control and Optimization

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  • Cite this

    Zhao, Z. L., Guo, B. Z., & Jiang, Z. P. (2018). A new extended state observer for output tracking of nonlinear MIMO systems. In 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017 (pp. 6732-6737). (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2017.8264674