Sampled-data extended state observer for uncertain nonlinear systems  

作　　者：Chuan TIAN Peng YAN Zhen ZHANG 

机构地区：[1]School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China [2]Key Laboratory of High-efficiency and Clean Mechanical Manufacturing, Ministry of Education, School of Mechanical Engineering, Shandong University, Jinan Shandong 250061, China [3]Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China

出　　处：《Control Theory and Technology》2016年第3期189-198,共10页控制理论与技术（英文版）

基　　金：This work was supported by the National Natural Science Foundation of China （Nos. 61327003, 61004004）, the China Fundamental Research Funds for the Central Universities （Nos. 10062013YWF13-ZY-68, 10062014YWF-14-ZDHXY-018） and the Tsinghua University Initiative Scientific Research Program （No. 2010Z02270）

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.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 

分 类 号：TP[自动化与计算机技术]