On convergence of extended state observers for nonlinear systems with non-differentiable uncertainties

被引：1
|
作者：
Wu, Xiang [1 ]
Lu, Qun [2 ]
She, Jinhua [3 ]
Sun, Mingxuan [1 ]
Yu, Li [1 ]
Su, Chun-Yi [2 ,4 ]
机构：
[1] Zhejiang Univ Technol, Coll Informat Engn, Hangzhou, Peoples R China
[2] Taizhou Univ, Sch Aeronaut Engn, Jiaojiang 318000, Zhejiang, Peoples R China
[3] Tokyo Univ Technol, Sch Engn, Hachioji, Tokyo 1920982, Japan
[4] Concordia Univ, Dept Mech Ind & Aerosp Engn, Montreal, PQ H3G 1M8, Canada
来源：
ISA TRANSACTIONS | 2023年 / 136卷
关键词：
Extended state observers; Nonlinear systems; Convergence analysis; Non-differentiable uncertainties; SLIDING-MODE CONTROL; FINITE-TIME; ACTIVE DISTURBANCE; DESIGN; STABILIZATION;
D O I：
10.1016/j.isatra.2022.11.012
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The analysis of convergence of extended state observers (ESOs) requires the total disturbance to be differentiable. However, this requirement is not satisfied in many control engineering practices. In this paper, we attempt to analyze the convergence of ESOs for nonlinear systems with non-differentiable uncertainties. A decomposition method is first presented to divide the non-differentiable total disturbance into a differentiable signal and a bounded but non-differentiable signal. Based on this decomposition, we give out the convergence of both nonlinear and linear ESOs (NLESO/LESO), low-and high-power ESOs (LPESO/HPESO), and fixed-time ESO (FxESO). We also derive the explicit formulas for the estimation errors of these ESOs. Simulations and experiments demonstrate the correctness of the analysis results.(c) 2022 ISA. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：590 / 604
页数：15
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