Generalized Extended State Observer Based Control for Systems With Mismatched Uncertainties

被引：708

作者：

Li, Shihua ^{[1
]}

Yang, Jun ^{[1
]}

Chen, Wen-Hua ^{[2
]}

Chen, Xisong ^{[1
]}

机构：

[1] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China

[2] Univ Loughborough, Dept Aeronaut & Automot Engn, Loughborough LE11 3TU, Leics, England

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2012年 / 59卷 / 12期

关键词：

Disturbance compensation gain; disturbance rejection; generalized extended state observer based control (GESOBC); mismatched uncertainties; multi-input-multi-output (MIMO) system; nonintegral-chain system; NONLINEAR DISTURBANCE OBSERVER; MOTION CONTROL; SPEED CONTROL; REJECTION CONTROL; PERFORMANCE; MOTOR; DESIGN;

D O I：

10.1109/TIE.2011.2182011

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 standard extended state observer based control (ESOBC) method is only applicable for a class of single-input-single-output essential-integral-chain systems with matched uncertainties. It is noticed that systems with nonintegral-chain form and mismatched uncertainties are more general and widely exist in practical engineering systems, where the standard ESOBC method is no longer available. To this end, it is imperative to explore new ESOBC approach for these systems to extend its applicability. By appropriately choosing a disturbance compensation gain, a generalized ESOBC (GESOBC) method is proposed for nonintegral-chain systems subject to mismatched uncertainties without any coordinate transformations. The proposed method is able to extend to multi-input-multi-output systems with almost no modification. Both numerical and application design examples demonstrate the feasibility and efficacy of the proposed method.

引用

页码：4792 / 4802

页数：11

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