A Novel Extended State Observer for Output Tracking of MIMO Systems With Mismatched Uncertainty

doi:10.1109/TAC.2017.2720419

CORC > 数学与系统科学研究院 > 中国科学院数学与系统科学研究院 > 系统科学研究所

	A Novel Extended State Observer for Output Tracking of MIMO Systems With Mismatched Uncertainty
	Zhao, Zhi-Liang 1; Guo, Bao-Zhu2,3
刊名	IEEE TRANSACTIONS ON AUTOMATIC CONTROL
	2018
卷号	63 期号:1 页码:211-218
关键词	Extended state observer (ESO) multi-input multioutput (MIMO) systems nonlinear systems output tracking uncertainty
ISSN号	0018-9286
DOI	10.1109/TAC.2017.2720419
英文摘要	In this paper, we develop a novel extended state observer (ESO), in terms of tracking error only, for output tracking of a class of multi-input multioutput systems with mismatched uncertainty. A novel ESO is constructed from the nonsmooth function "fal" to estimate both uncertainty and state of the system. An ESO-based output feedback controller is then designed to compensate (cancel) the uncertainty and to achieve the output tracking. The convergence of the closed-loop system is proved. The effectiveness of the proposed method is demonstrated by numerical results of trajectory tracking for a practical autonomous underwater vehicle model. We show that in the presence of measurement noise, this novel ESO leads to better performance than the linear ESO. Moreover, this type of ESO has much smaller peaking value than the linear ESO under the same tuning gain.
资助项目	National Natural Science Foundation of China[61403242] ; Nature Science Research Program of Shaanxi Province-Key Program[2016JZ023] ; Fundamental Research Funds for the Central University[GK201702013]
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000419089000017
内容类型	期刊论文
源URL	[http://ir.amss.ac.cn/handle/2S8OKBNM/27122]
专题	系统科学研究所
通讯作者	Zhao, Zhi-Liang
作者单位	1.Shaanxi Normal Univ, Sch Math & Informat Sci, Xian 710119, Shaanxi, Peoples R China 2.Acad Sinica, Acad Math & Syst Sci, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Zhao, Zhi-Liang,Guo, Bao-Zhu. A Novel Extended State Observer for Output Tracking of MIMO Systems With Mismatched Uncertainty[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL,2018,63(1):211-218.
APA	Zhao, Zhi-Liang,&Guo, Bao-Zhu.(2018).A Novel Extended State Observer for Output Tracking of MIMO Systems With Mismatched Uncertainty.IEEE TRANSACTIONS ON AUTOMATIC CONTROL,63(1),211-218.
MLA	Zhao, Zhi-Liang,et al."A Novel Extended State Observer for Output Tracking of MIMO Systems With Mismatched Uncertainty".IEEE TRANSACTIONS ON AUTOMATIC CONTROL 63.1(2018):211-218.