Frequency‐shifting‐based algebraic approach to extended state observer design

Abstract

In this paper, a frequency-shifting-based (FSB) algebraic approach to the extended state observer (ESO) design is proposed. The proposed algebraic approach provides almost instantaneous convergence toward the exact values of the system states and disturbances. The main benefit of the proposed approach is the elimination of the peaking phenomenon, which is inevitable in the case of the conventional observer design. In comparison with the linear ESO, the proposed algebraic ESO is less sensitive to the choice of the observer bandwidth, and it is more robust to the measurement noise. The simulation and experimental results illustrate the efficiency of the proposed algebraic approach in comparison with the linear ESO.

Novel Adaptive Extended State Observer for Dynamic Parameter Identification with Asymptotic Convergence

“…This effect is caused by the peaking phenomenon of ESO in the presence of non-zero initial estimation errors and is the reason for the necessity of a projection operator. It could be mitigated in practice by disabling the adaptation in the first moments of work of the observer or by employing one of several modified ESO algorithms which are characterized by a limited presence of peaking phenomenon [61][62][63]. In a direct consequence of this phenomenon, the time of identification is significantly extended in comparison with the case with the regressor independent of the state of the system.…”

Disturbance‐observer‐based speed control for SPMSM drives using modified super‐twisting algorithm and extended state observer

“…There are several disturbance observers that can be used to construct high-performance composite controllers [19][20][21][22][23][24][25][26]. Among them, the extended state observer (ESO) has attracted much attention [26][27][28][29][30][31][32][33][34][35][36][37][38][39].…”

“…There are several disturbance observers that can be used to construct high-performance composite controllers [19][20][21][22][23][24][25][26]. Among them, the extended state observer (ESO) has attracted much attention [26][27][28][29][30][31][32][33][34][35][36][37][38][39]. The most attractive feature of this disturbance observer is that the minimum information of the system is required by the observer design since the total disturbance of the system is regarded as an augmented state to be estimated [27].…”

Multirotor UAV – a Multidisciplinary Platform for Teaching Mechatronics Engineering

“…To fulfill this requirement, a variety of control and estimation methods are employed in research and product development [8][9][10][11][12]. Conventional control methods can be utilized such as Proportional-Integral-Derivative (PID) control or Linear Quadratic Regulator (LQR).…”