Regular Papers

International Journal of Control, Automation and Systems 2017; 15(3): 1227-1235

Published online May 20, 2017

https://doi.org/10.1007/s12555-016-0078-7

© The International Journal of Control, Automation, and Systems

Robust Output Tracking Control for a Class of Uncertain Nonlinear Systems Using Extended State Observer

Yan Zhao, Jiang-Bo Yu*, and Jie Tian

Shandong Jianzhu University

Abstract

This paper investigates the global robust output tracking control problem via output feedback for a class of nonlinear uncertain systems with the integral input-to-state stable (iISS) dynamic uncertainties. By performing the coordinates transformation and employing an extended state observer (ESO), it can be seen that the robust setpoint tracking control is well solved. The proposed control strategy simplifies the control design procedure. This control scheme finds its application in the mass-spring mechanical system. It is shown that the asymptotic tracking control for any desired displacement can be achieved in the mass-spring mechanical system in the case of unknown parameters. The simulation results demonstrate that the proposed control scheme has a better tracking performance. This verifies the effectiveness of the developed method."

Keywords Dynamic uncertainty, extended state observer, nonlinear systems, output feedback, tracking control

Article

Regular Papers

International Journal of Control, Automation and Systems 2017; 15(3): 1227-1235

Published online June 1, 2017 https://doi.org/10.1007/s12555-016-0078-7

Copyright © The International Journal of Control, Automation, and Systems.

Robust Output Tracking Control for a Class of Uncertain Nonlinear Systems Using Extended State Observer

Yan Zhao, Jiang-Bo Yu*, and Jie Tian

Shandong Jianzhu University

Abstract

This paper investigates the global robust output tracking control problem via output feedback for a class of nonlinear uncertain systems with the integral input-to-state stable (iISS) dynamic uncertainties. By performing the coordinates transformation and employing an extended state observer (ESO), it can be seen that the robust setpoint tracking control is well solved. The proposed control strategy simplifies the control design procedure. This control scheme finds its application in the mass-spring mechanical system. It is shown that the asymptotic tracking control for any desired displacement can be achieved in the mass-spring mechanical system in the case of unknown parameters. The simulation results demonstrate that the proposed control scheme has a better tracking performance. This verifies the effectiveness of the developed method."

Keywords: Dynamic uncertainty, extended state observer, nonlinear systems, output feedback, tracking control

IJCAS
July 2024

Vol. 22, No. 7, pp. 2055~2340

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