Disturbance-observer-based controlLongitudinal dead-zone modelIn this paper, a disturbance-observer-based control strategy is proposed for longitudinal control and lateral control of unmanned ground vehicles. A composite nonlinear extended state observer is put forward to estimate the total disturbance. A...
In this paper, we investigate a nonlinear extended state observer (ESO) constructed from piece-wise smooth functions consisted of linear and fractional power functions. This structure of ESO was first proposed in the 1990’s and has been widely used in active disturbance rejection control for engin...
为了解决非线性扩张状态观测器(nonlinear extended state observer,NLESO) 对大幅度扰动估计能力有限的问题,本文提出一种线性/非线性切换扩张状态观测器.首先分析了非线性扩张状态观测器对大幅度扰动估计能力有限的原因,然后提出在NLESO的非线性区间引入一段线性扩张状态观测器(linear extended state observer,LESO)弥补NLE...
In this paper we have derived a nonlinear passive observer for moored and free-floating ships. By adding low- and high-pass filtered innovation signals in the design, we have additional flexibility in the design. This augmented design is extended to a new observer with adaptive wave filtering....
This paper addresses the path-following control problems for autonomous ground vehicles under prescribed performance. A fixed-time observer is designed to estimate the sideslip angle by utilizing accessible vehicle state variables within a fixed time frame. Furthermore, an improved prescribed performance ...
The holographic image is projected on the CCD camera and digitally inverted to obtain the image as seen by an observer looking from the sample to the image. Data availability All relevant data are provided in the Supplementary Material and available with the authors. Additional information How to...
At first, a robust observer under synchronous switching is proposed based on average dwell time approach. After that, the results are extended to robust observer design in the asynchronous case. In this case, two working modes are adopted to facilitate the studies on the issue. Finally, an ...
Hence this paper develops an extended H_鈭circle criterion observer for state estimation in systems with nonlinear output equations. The observer design approach utilizes a modified Young鈥檚 relation to include additional degrees of freedom in the linear matrix inequality (LMI) used for observer gain...
A novel extended state observer (ESO) is first designed as a predictor to realize the predictive state, and the total uncertainty which represents the effects of the unknown nonlinear dynamics and external disturbance. Based on the output of the ESO, a predictive ADRC law is presented. ...
Reference [17] uses extended state observer (ESO) to observe and compensate the uncertainties for missile systems, and the system performance can be predicted by fixed-time convergence theory. Reference [18] combines a reduced-order observer and a full-order multiple observer to cancel the unknown...