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Sampled-data extended state observer for uncertain nonlinear systems
C.Tian,P.Yan,Z.Zhang
0
(School of Automation Science and Electrical Engineering, Beihang University)
摘要:
In this paper, we present a sampled-data nonlinear extended state observer (NLESO) design method for a class of nonlinear systems with uncertainties and discrete time output measurement. To accommodate the inter-sample dynamics, an inter-sample output predictor is employed in the structure of the NLESO to estimate the system output in the sampling intervals, where the prediction is used in the proposed observer instead of the system output. The exponential convergence of the sampled-data NLESO is also discussed and a sufficient condition is given by the Lyapunov method. A numerical example is provided to illustrate the performance of the proposed observer.
关键词:  Sampled-data, extended state observer, nonlinear systems
DOI:
Received:January 31, 2016Revised:May 12, 2016
基金项目:
Sampled-data extended state observer for uncertain nonlinear systems
C. Tian,P. Yan,Z. Zhang
(School of Automation Science and Electrical Engineering, Beihang University;School of Automation Science and Electrical Engineering, Beihang University; Key Laboratory of High-efficiency and Clean Mechanical Manufacturing, Ministry of Education, School of Mechanical Engineering, Shandong University;Department of Mechanical Engineering, Tsinghua University)
Abstract:
In this paper, we present a sampled-data nonlinear extended state observer (NLESO) design method for a class of nonlinear systems with uncertainties and discrete time output measurement. To accommodate the inter-sample dynamics, an inter-sample output predictor is employed in the structure of the NLESO to estimate the system output in the sampling intervals, where the prediction is used in the proposed observer instead of the system output. The exponential convergence of the sampled-data NLESO is also discussed and a sufficient condition is given by the Lyapunov method. A numerical example is provided to illustrate the performance of the proposed observer.
Key words:  Sampled-data, extended state observer, nonlinear systems