Stability analysis of the high-order nonlinear extended state observers for a class of nonlinear control systems

被引：12

作者：

Gao, Ke ^{[1
]}

Song, Jia ^{[1
]}

Yang, Erfu ^{[2
]}

机构：

[1] Beihang Univ, Sch Astronaut, 37 Xueyuan Rd, Beijing 100191, Peoples R China

[2] Univ Strathclyde Glasgow, Space Mechatron Syst Technol Lab, Strathclyde Space Inst, Glasgow, Lanark, Scotland

来源：

TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL | 2019年 / 41卷 / 15期

基金：

中国国家自然科学基金;

关键词：

Extended state observer (ESO); describing function (DF) method; active disturbance rejection control (ADRC) method; higher-order extended state observer; DISTURBANCE REJECTION CONTROL; BANDWIDTH;

D O I：

10.1177/0142331219858846

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 nonlinear extended state observer (ESO) is a novel observer for a class of nonlinear control system. However, the non-smooth structure of the nonlinear ESO makes it difficult to measure the stability. In this paper, the stability problem of the nonlinear ESO is considered. The describing function (DF) method is adopted to analyze the stability of high-order nonlinear ESOs. The main result of the paper shows the existence of the self-oscillation and a sufficient stability condition for high-order nonlinear ESOs. Based on the analysis results, we give a simple and fast parameter tuning method for the nonlinear ESO and the active disturbance rejection control (ADRC). Realistic application simulations show the effectiveness of the proposed parameter tuning method.

引用

页码：4370 / 4379

页数：10

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