On the convergence of an extended state observer for nonlinear systems with uncertainty

The extended state observer first proposed by Jingqing Han in [J.Q. Han, A class of extended state observers for uncertain systems, Control Decis. 10 (1) (1995) 85–88 (in Chinese)] is the key link toward the active disturbance rejection control that is taking off as a technology after numerous succe...

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Bibliographic Details
Published in:Systems & control letters 2011-06, Vol.60 (6), p.420-430
Main Authors: Guo, Bao-Zhu, Zhao, Zhi-liang
Format: Article
Language:English
Subjects:
Applied sciences
Asymptotic properties
Computer science
control theory
systems
Control systems
Control theory. Systems
Convergence
Disturbances
Dynamical systems
Errors
Exact sciences and technology
Extended state observer
Mathematical analysis
Modelling and identification
Nonlinear systems
State observers
Uncertainty
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Summary:The extended state observer first proposed by Jingqing Han in [J.Q. Han, A class of extended state observers for uncertain systems, Control Decis. 10 (1) (1995) 85–88 (in Chinese)] is the key link toward the active disturbance rejection control that is taking off as a technology after numerous successful applications in engineering. Unfortunately, there is no rigorous proof of convergence to date. In this paper, we attempt to tackle this long unsolved extraordinary problem. The main idea is to transform the error equation of objective system with its extended state observer into a asymptotical stable system with a small disturbance, for which the effect of total disturbance error is eliminated by the high-gain.
ISSN:0167-6911
1872-7956
DOI:10.1016/j.sysconle.2011.03.008