A Novel Extended State Observer for Output Tracking of MIMO Systems With Mismatched Uncertainty | |
Zhao, Zhi-Liang1; Guo, Bao-Zhu2,3![]() | |
刊名 | IEEE TRANSACTIONS ON AUTOMATIC CONTROL
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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. |
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