TY - GEN
T1 - A new type extended state observer for system with measurement noise
AU - Wang, Yuhang
AU - Yao, Yu
AU - Ma, Kemao
PY - 2008
Y1 - 2008
N2 - This paper proposes a new type of extended state observer (ESO) for state observation of nonlinear system with measurement noise. ESO can observe the inner and outer disturbance of uncertain system and it is the foundation of active disturbance-rejection controller, while the measurement noise degrades the performance of the normal ESO. In this paper, fal function feedback structure is used to deal with measurement noise, then ESO is applied, thus their combination can eliminate the effect of measure noise on ESO. Comparing with the method of extending a rank state to ESO and the method of extending the filter equation to ESO, this new method does not need to extend the rank of ESO. So the tracking error increasing problem and the parameter tuning problem which are brought by the rank increase of ESO can be avoided. The simulation results shows that this method can satisfactorily track states for system with measurement noise.
AB - This paper proposes a new type of extended state observer (ESO) for state observation of nonlinear system with measurement noise. ESO can observe the inner and outer disturbance of uncertain system and it is the foundation of active disturbance-rejection controller, while the measurement noise degrades the performance of the normal ESO. In this paper, fal function feedback structure is used to deal with measurement noise, then ESO is applied, thus their combination can eliminate the effect of measure noise on ESO. Comparing with the method of extending a rank state to ESO and the method of extending the filter equation to ESO, this new method does not need to extend the rank of ESO. So the tracking error increasing problem and the parameter tuning problem which are brought by the rank increase of ESO can be avoided. The simulation results shows that this method can satisfactorily track states for system with measurement noise.
KW - Auto disturbance-rejection controller (ADRC)
KW - Extended state observer (ESO)
KW - Fal function
UR - https://www.scopus.com/pages/publications/56449087328
U2 - 10.1109/ICAL.2008.4636438
DO - 10.1109/ICAL.2008.4636438
M3 - 会议稿件
AN - SCOPUS:56449087328
SN - 9781424425020
T3 - Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008
SP - 1745
EP - 1749
BT - Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008
T2 - IEEE International Conference on Automation and Logistics, ICAL 2008
Y2 - 1 September 2008 through 3 September 2008
ER -