Title | ||
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Analysis and Design of a Time-Varying Extended State Observer for a Class of Nonlinear Systems with Unknown Dynamics Using Spectral Lyapunov Function |
Abstract | ||
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In this study, a novel strategy based on the integration of differential algebraic spectral theory (DAST) and spectral Lyapunov function is presented to analyze and design a time-varying extended state observer (TESO) for a class of nonlinear systems with unknown dynamics. The simultaneous estimation of the lumped disturbance and state vectors are achieved by using a TESO based on the time-varying parallel differential (PD) eigenvalues of the observer. The observer bandwidth design is based on the combination of DAST and spectral Lyapunov function. By using this method, a systematic approach is derived to obtain the observer parameters, which improves boundedness of the observer estimation error in terms of transient and persistent performance. A comparison between TESO and previous similar methods is provided in the simulation part upon the TMUBOT quadruped robot dynamic model which indicates a distinguished answer in the estimation error of the TESO. Moreover, by applying the proposed algorithm to the TMUBOT robot, the superiority of the algorithm in practical schemes will be illustrated. |
Year | DOI | Venue |
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2019 | 10.1007/s10846-018-0935-0 | Journal of Intelligent and Robotic Systems |
Keywords | Field | DocType |
Active disturbance rejection control, Extended state observer, Differential algebraic spectral theory, Spectral Lyapunov function | State observer,Lyapunov function,Spectral theory,Nonlinear system,Control theory,Active disturbance rejection control,Bandwidth (signal processing),Engineering,Observer (quantum physics),Eigenvalues and eigenvectors | Journal |
Volume | Issue | ISSN |
94.0 | 2 | 1573-0409 |
Citations | PageRank | References |
0 | 0.34 | 11 |
Authors | ||
3 |
Name | Order | Citations | PageRank |
---|---|---|---|
Mehran Attar | 1 | 0 | 0.34 |
Vahid Johari Majd | 2 | 154 | 15.51 |
Navid Dini | 3 | 0 | 0.34 |