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Disturbance observers and extended state observers for marine vehicles: A survey
Control Engineering Practice, 2022The operation performance of marine vehicles (MVs) is significantly vulnerable to external disturbances induced by wind, waves, and ocean currents in complex marine environments. Disturbance estimation is a fundamental issue in MV motion control, and various disturbance estimation methods are explored for high-performance motion control of MVs.
Nan Gu +4 more
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Extended high gain observer design for state and parameter estimation
2015 4th International Conference on Systems and Control (ICSC), 2015This paper investigates the design of an extended high gain observer to estimate the state together with some unknownconstant parameters for a class of nonlinear systems. We firstly consider the case where all the parameters are known. A high gain state observeris proposed and its exponential convergence is carried out under a well defined persistent ...
Farza, Mondher +5 more
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Frequency‐shifting‐based algebraic approach to extended state observer design
Asian Journal of Control, 2021AbstractIn 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.
Josip Kasac +3 more
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Arctangent-Based Extended State Observer with Terminal Attractor
2017 9th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2017Aiming at the numerous adjustable parameters, poor chattering attenuation ability and unsystematic parameter tuning method of arctangent-based extended state observer (AESO), an arctangent-based extended state observer with terminal attractor (AESOT) is designed.
Jianfa Wu, Honglun Wang
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Modified Extended State Observer Control of Linear Systems
AIAA Guidance, Navigation, and Control Conference, 2016In this paper, a novel architecture for model following control of uncertain Linear Time Invariant (LTI) systems in case of state feedback is presented. The architecture is based on a Modified Linear Extended State Observer (MLESO), which estimates the disturbance signal that causes the real plant to deviate from the reference model.
Christian D. Heise +2 more
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An Extended State Observer Based on Tracking Differentiator
2006 Chinese Control Conference, 2006A series tracking differentiator (TD) that is in the form of observer is used as substitute for the extended state observer (ESO) in active disturbance rejection controller (ADRC). This improved ESO independently of original system model is not only simple for the parameters tuning, but also good for filter performance. The simulation results show that
Zhu Jianhong +2 more
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Nonlinear Extended State Observer for Hybrid Dynamical Systems
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC), 2019This paper introduces a nonlinear disturbance observer for hybrid dynamical systems with continuous and discrete dynamics. The hybrid dynamical system considered in this work is a bipedal robot. The robot is modeled by a continuous mathematical model connected to a discrete reset functions.
Jaime Arcos-Legarda +2 more
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Fuzzy extended state observer for the fault detection and identification
ISA Transactions, 2022This paper introduces a novel methodology to detect and identify faults for a class of autonomous nonlinear systems. In the proposed design, a fuzzy extended system observer (FESO) based on the Mandami-type fuzzy system is used to estimate the fault that is considered to be the extended system state.
Pablo J. Prieto +2 more
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Capabilities of extended state observer for estimating uncertainties
2009 American Control Conference, 2009The capabilities of extended state observer (ESO) for estimating uncertainties is discussed in this paper. The scope of the disturbances that can be observed by LESO with bounded observing errors is given. The observing errors for several typical disturbances-constant disturbance, sine disturbance, ramp disturbance, and square wave disturbance are ...
Xiaoxia Yang, Yi Huang
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Fault Detection of Actuators via Extended State Observer
2019 CAA Symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS), 2019This paper focuses on the issue of fault detection of actuators. The proposed fault detection scheme consists of the nominal actuator dynamics and the corresponding modified extended state observer. Simulation of typical autopilot of flight vehicles shows that the proposed method can identify actuator performance degradation from hierarchical ...
Yanze Hou, Minjie Zhang, Lei Yang
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