| 引用本文: | 陈志翔,高钦和.线性/非线性切换扩张状态观测器[J].控制理论与应用,2019,36(6):902~908.[点击复制] |
| CHEN Zhi-xiang,GAO Qin-he.Linear/nonlinear switching extended state observer[J].Control Theory and Technology,2019,36(6):902~908.[点击复制] |
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| 线性/非线性切换扩张状态观测器 |
| Linear/nonlinear switching extended state observer |
| 摘要点击 2214 全文点击 1215 投稿时间：2018-01-24 修订日期：2018-07-13 |
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| DOI编号 10.7641/CTA.2018.80078 |
| 2019,36(6):902-908 |
| 中文关键词 自抗扰控制 扩张状态观测器 非线性系统 |
| 英文关键词 active disturbance rejection control extended state observer nonlinear systems |
| 基金项目 国家自然科学基金 |
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| 中文摘要 |
| 为了解决非线性扩张状态观测器(nonlinear extended state observer,NLESO) 对大幅度扰动估计能力有限的问题,本文提出一种线性/非线性切换扩张状态观测器.首先分析了非线性扩张状态观测器对大幅度扰动估计能力有限的原因,然后提出在NLESO的非线性区间引入一段线性扩张状态观测器(linear extended state observer,LESO)弥补NLESO的缺陷,其次从理论上证明了提出的线性/非线性切换扩张状态观测器的收敛性.最后,通过数值仿真验证了提出的线性/非线性切换扩张状态观测器的可行性. |
| 英文摘要 |
| In order to solve the problem that nonlinear extended state observer is limited to large amplitude perturbation estimation, we propose a linear/nonlinear switching extended state observer (L/NL-SESO). Firstly, we analyze the reasons for the limited ability of the nonlinear extended state observer to the large amplitude disturbance estimation. Then a linear extended state observer is introduced in nonlinear intervals of nonlinear extended state observers. Thirdly, the convergence of the proposed L/NL-SESO is proved theoretically. Finally, numerical simulation results verify the feasibility of the proposed L/NL-SESO. |