Extended High-Gain Observers as Disturbance Estimators

Khalil, Hassan K.

doi:10.9746/jcmsi.10.125

Cited by 51 publications

(21 citation statements)

References 12 publications

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“…Authors in Reference [44] proposed a MIMO nonlinear anti-disturbance compensator based on the linear extended state observer (LESO) for an unmanned aerial vehicle with exogenous disturbances and uncertainties. Authors in Reference [45] demonstrated an extended high-grain observer as a disturbance estimator in combination with a dynamic inversion technique with an application on nonlinear MIMO systems.…”

Section: Related Workmentioning

confidence: 99%

Improved Active Disturbance Rejection-Based Decentralized Control for MIMO Nonlinear Systems: Comparison with The Decoupled Control Scheme

et al. 2020

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A decentralized control scheme is developed in this paper based on an improved active disturbance rejection control (IADRC) for output tracking of square Multi-Input-Multi-Output (MIMO) nonlinear systems and compared with the decoupled control scheme. These nonlinear MIMO systems were subjected to exogenous disturbances and composed of high couplings between subsystems, input couplings, and uncertain elements. In the decentralized control scheme, it was assumed that the input couplings and subsystem couplings were both parts of the generalized disturbance. Moreover, the generalized disturbance included other components, such as exogenous disturbances and system uncertainties, and it was estimated within the context of Active Disturbance rejection Control (ADRC) via a novel nonlinear higher order extended state observer (NHOESO) from the measured output and canceled from the input channel in a real-time fashion. Then, based on the designed NHOESO, a separate feedback control law was developed for each subsystem to achieve accurate output tracking for given reference input. With the proposed decentralized control scheme, the square MIMO nonlinear system was converted into approximately separate linear time invariant Single-Input-Single-Output (SISO) subsystems. Numerical simulations in a MATLAB environment showed the effectiveness of the proposed technique, where it was applied on a hypothetical MIMO nonlinear system with strong couplings and vast uncertainties. The proposed decentralized control scheme reduced the total control signal energy by 20.8% as compared to the decoupled control scheme using Conventional ADRC (CADRC), while the reduction was 27.18% using the IADRC.

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Section: Related Workmentioning

confidence: 99%

Improved Active Disturbance Rejection-Based Decentralized Control for MIMO Nonlinear Systems: Comparison with The Decoupled Control Scheme

et al. 2020

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“…Inspired by classical approaches in output feedback literature, we propose a simple paradigm composed of two steps. First, we design an extended high-gain observer [8,16,25] able to recover the input y from the filter (3). Then, we replace the input of the controller (2) by the saturated version of the estimate given by the observer.…”

Section: Assumptionmentioning

confidence: 99%

“…For this, the full knowledge of the state x of the plant Σ is not required. To this end, the main idea is to use a disturbance observer [8] designed in particular as an extended high-gain observer (see, e.g., [16,25], also known as extended state observer, [20]) able to recover the output y of Σ from the estimation of the state of the filter Σ f . In the same spirit of standard results about separation principle for nonlinear systems in semi-global output feedback stabilization (see, e.g., [4,29,30]), the resulting controller allows to stabilize an equilibrium of the cascade system Σ-Σ f with a domain of attraction that includes the set of initial conditions.…”

Section: Introductionmentioning

confidence: 99%

Stabilization of nonlinear systems in presence of filtered output via extended high-gain observers

Astolfi

Casadei

2019

Automatica

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We consider the problem of stabilizing a nonlinear system with filtered output. Given an output feedback control law which satisfies a stability requirement, we consider the case in which the necessary output cannot be measured. The measure is rather the output of an auxiliary stable dynamics in cascade with the system. In place of fully redesign the control architecture, we slightly modify the original control law design by adding a disturbance observer and we recover the desired stability property for the system. The disturbance observer is design as an extended high-gain observer.

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“…The authors of [27] suggested a new fractional decentralized control for aircraft engines, which are considered as uncertain large-scale systems composed of interconnected uncertain subsystems. Finally, the authors in [28] validated a dynamic inversion technique in combination with a disturbance estimator and applied it to MIMO nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

Anti-Disturbance Compensation-Based Nonlinear Control for a Class of MIMO Uncertain Nonlinear Systems

Abdul-Adheem

Alkhayyat

Mhdawi

et al. 2021

Entropy

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Multi-Inputs-Multi-Outputs (MIMO) systems are recognized mainly in industrial applications with both input and state couplings, and uncertainties. The essential principle to deal with such difficulties is to eliminate the input couplings, then estimate the remaining issues in real-time, followed by an elimination process from the input channels. These difficulties are resolved in this research paper, where a decentralized control scheme is suggested using an Improved Active Disturbance Rejection Control (IADRC) configuration. A theoretical analysis using a state-space eigenvalue test followed by numerical simulations on a general uncertain nonlinear highly coupled MIMO system validated the effectiveness of the proposed control scheme in controlling such MIMO systems. Time-domain comparisons with the Conventional Active Disturbance Rejection Control (CADRC)-based decentralizing control scheme are also included.

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Extended High-Gain Observers as Disturbance Estimators

Cited by 51 publications

References 12 publications

Improved Active Disturbance Rejection-Based Decentralized Control for MIMO Nonlinear Systems: Comparison with The Decoupled Control Scheme

Improved Active Disturbance Rejection-Based Decentralized Control for MIMO Nonlinear Systems: Comparison with The Decoupled Control Scheme

Stabilization of nonlinear systems in presence of filtered output via extended high-gain observers

Anti-Disturbance Compensation-Based Nonlinear Control for a Class of MIMO Uncertain Nonlinear Systems

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