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

Ke Gao, Jia Song, Erfu Yang

Research output: Contribution to journalArticle

1 Downloads (Pure)

Abstract

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.
Original languageEnglish
Number of pages17
JournalTransactions of the Institute of Measurement and Control
Publication statusAccepted/In press - 19 May 2019

Fingerprint

Nonlinear control systems
European Southern Observatory
Tuning
tuning
self oscillation
Describing functions
Disturbance rejection
rejection
disturbances
simulation

Keywords

  • extended state observer (ESO)
  • descriptive function (DF) method
  • active disturbance rejection control (ADRC)
  • higher-order systems

Cite this

@article{42eafd0390214eaeaa44ebf29bbb4c13,
title = "Stability analysis of the high-order extended state observers for a class of nonlinear control systems",
abstract = "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.",
keywords = "extended state observer (ESO), descriptive function (DF) method, active disturbance rejection control (ADRC), higher-order systems",
author = "Ke Gao and Jia Song and Erfu Yang",
year = "2019",
month = "5",
day = "19",
language = "English",
journal = "Transactions of the Institute of Measurement and Control",
issn = "0142-3312",

}

TY - JOUR

T1 - Stability analysis of the high-order extended state observers for a class of nonlinear control systems

AU - Gao, Ke

AU - Song, Jia

AU - Yang, Erfu

PY - 2019/5/19

Y1 - 2019/5/19

N2 - 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.

AB - 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.

KW - extended state observer (ESO)

KW - descriptive function (DF) method

KW - active disturbance rejection control (ADRC)

KW - higher-order systems

UR - https://journals.sagepub.com/home/tim

M3 - Article

JO - Transactions of the Institute of Measurement and Control

JF - Transactions of the Institute of Measurement and Control

SN - 0142-3312

ER -