Hybrid extended state observer based control for systems with matched and mismatched disturbances

Gandhi, Ravi V.; Adhyaru, Dipak M.

doi:10.1016/j.isatra.2020.06.019

Cited by 25 publications

(23 citation statements)

References 29 publications

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“…The FLC structure has been integrated with the DESO of nonlinear type to provide more robust performance against the mismatched time-varying lumped disturbances [3,17].…”

Section: Of 21mentioning

confidence: 99%

“…The above-mentioned dynamics in (3) are transformed by v m = x n+1 to estimate f (x(t), d(t), t) as well as any unmeasured states. The Nonlinear ESO(NESO) with the bounded conditions, i.e.…”

Section: Extended State Observer (Eso)mentioning

confidence: 99%

“…In the past two decades, various approaches have been reported to estimate such disturbances. This includes, the new Extended State Observer (nESO) [2], the Hybrid Extended State Observer (HESO) [3], the Disturbance Observer (DOB) [1], the Generalized DOB (GDOB) [4], the Equivalent Input Disturbance (EID) [5], the Active Disturbance Rejection Control (ADRC) [6]. Among these approaches, the Extended State Observer(ESO) is a widely used method due to the requirement of minimal system information.…”

Section: Introductionmentioning

confidence: 99%

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Dual Extended State Observer Based Feedback Linearizing Control for Magnetic Levitation System with Mismatched Disturbances and Uncertainties

Gandhi¹,

Adhyaru²,

Bokoro³

2023

Preprint

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This research work presents the nonlinear control framework to estimate and reject the mismatched lumped disturbances acting on the nonlinear uncertain system. It is an unfortunate fact that the conventional Extended State Observer (ESO) is not capable to estimate the mismatched lumped disturbance and its derivative simultaneously for the systems. Also, the basic ESO is only suitable for systems with Integral Chain Form (ICF) structure. Similarly, the conventional Feedback Linearizing Control (FLC) approach is not robust for stabilizing the systems in the presence of disturbances and uncertainties. Hence, the nonlinear control framework is proposed to overcome the above issues which are composed of, (a) Dual Extended State Observer (DESO), and (b) DESO based FLC. The DESO provides information on the unmeasured state, mismatched disturbance, and its derivative. While the DESO-FLC utilizes the information from DESO to counter the effect of such disturbances and to stabilize the nonlinear systems around the reference point. The detailed closed-loop analysis is presented for the proposed control framework in the presence of lumped disturbances. The performance robustness of the presented design has been validated for the third order, nonlinear, unstable, and disturbed Magnetic Levitation System (MLS). The results of the DESO-FLC approach are compared with the most popular Linear Quadratic Regulator (LQR) and nonlinear FLC approaches based on the integral error criterion and the average electrical energy consumption.

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“…The FLC structure has been integrated with the DESO of nonlinear type to provide more robust performance against the mismatched time-varying lumped disturbances [3,17].…”

Section: Of 21mentioning

confidence: 99%

Section: Extended State Observer (Eso)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Dual Extended State Observer Based Feedback Linearizing Control for Magnetic Levitation System with Mismatched Disturbances and Uncertainties

Gandhi¹,

Adhyaru²,

Bokoro³

2023

Preprint

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“…In order to reconstruct the total disturbance x 3 , ESO is usually applied refs. [34][35][36], and the conventional linear ESO can be given by the following form:…”

Section: Extended State Observermentioning

confidence: 99%

Sliding Mode Robust Active Disturbance Rejection Control for Single-Link Flexible Arm with Large Payload Variations

et al. 2021

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This paper proposes a novel robust control scheme for tip trajectory tracking of a lightweight flexible single-link arm. The developed control scheme deals with the influence of tip payload changes and disturbances during the working process of the flexible arm, thus realizing the accurate tracking for the tip reference trajectory. The robust control scheme is composed of an inner loop and an outer loop. The inner loop adopts the traditional PD control, and an active disturbance rejection control (ADRC) with a sliding mode (SM) compensation is designed in the outer loop. Moreover, the sliding mode compensation is mainly used to cope with the disturbance estimation error from the extended state observer (ESO), by which the insensitivity to tip payload variations and strong disturbance resistance is achieved. Finally, some numerical simulations are performed to support the theoretical analysis. The results show that the system is more robust to the tip mass variations of the arm and more resistant to the external torque after adding the sliding mode robustness term to the ADRC.

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“…To tackle such a dilemma, we utilize state observer to estimate the state variables. State estimation was first proposed in Luenberger (1964), and the observer theory of linear time-invariant systems has been well established (Ethabet et al, 2018; Gandhi and Adhyaru, 2020; Ran et al, 2021; Ye et al, 2020). Combining state observer and controller as a state observer–based controller is a significant method to handle system control with some unavailable states.…”

Section: Introductionmentioning

confidence: 99%

Event-triggered control with waiting time based on state observer for switched linear systems

Wang

2022

Transactions of the Institute of Measurement and Control

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This paper concentrates on the state observer–based event-triggered control problem for a class of switched linear systems with external disturbance and transmission delay. It is assumed that the controller can only access the transmitted information of the state observer at each delayed event-triggered instant with a waiting time. First, by adopting the multiple Lyapunov–Krasovskii functional method, some sufficient conditions are derived for the establishment of the state observer, the input-to-state stability (ISS) and the globally uniformly exponential stability (GUES) of the switched linear systems under adjacent mode-dependent average dwell time (AMDADT) scheme. Then, we propose a state observer-based event-triggered sampling mechanism with waiting time and design an observer-based state feedback controller for the considered switched systems. Under the proposed event-triggered mechanism, the Zeno behavior can be easily excluded in all sampling processes. Finally, a numerical example is included to validate the proposed theory.

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Hybrid extended state observer based control for systems with matched and mismatched disturbances

Cited by 25 publications

References 29 publications

Dual Extended State Observer Based Feedback Linearizing Control for Magnetic Levitation System with Mismatched Disturbances and Uncertainties

Dual Extended State Observer Based Feedback Linearizing Control for Magnetic Levitation System with Mismatched Disturbances and Uncertainties

Sliding Mode Robust Active Disturbance Rejection Control for Single-Link Flexible Arm with Large Payload Variations

Event-triggered control with waiting time based on state observer for switched linear systems

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