On performance analysis of extended state observer for a class of systems with multiple uncertainties and biased measurement

被引：0

作者：

Chen, Sen ^{[1
]}

Zhao, Zhiliang ^{[1
]}

Bai, Wenyan ^{[2
]}

机构：

[1] Shaanxi Normal Univ, Sch Math & Informat Sci, Xian 710119, Peoples R China

[2] Beijing Aerosp Automat Control Inst, Beijing 100854, Peoples R China

来源：

PROCEEDINGS OF 2020 IEEE 9TH DATA DRIVEN CONTROL AND LEARNING SYSTEMS CONFERENCE (DDCLS'20) | 2020年

基金：

中国国家自然科学基金;

关键词：

extended state observer; biased estimation; observability; active disturbance rejection control; DISTURBANCE REJECTION CONTROL; NONLINEAR-SYSTEMS; TRACKING CONTROL; CONVERGENCE; DESIGN; RATIO;

D O I：

10.1109/ddcls49620.2020.9275083

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper studies the state estimation problem of a class of systems with multiple uncertainties and biased measurement. Since the observability of such system is not satisfied, the estimations for states and uncertainties definitely have biases. For the extended state observer which aims to estimate the system states and the dominant term of uncertainties, the quantitative estimating performance is studied in the paper. Furthermore, the biased estimation error is explicitly shown, which can be derived from the following three parts: 1) the biased measurement; 2) the unobservable dominant uncertainty; 3) the non-dominant term of multiple uncertainties. The theoretical analysis in the paper can help practitioners quantitatively evaluate the effectiveness of the designed extended state observer.

引用

页码：74 / 79

页数：6

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