0
Technical Briefs

On Validation of Extended State Observer Through Analysis and Experimentation

[+] Author and Article Information
Qing Zheng1

Department of Electrical and Computer Engineering,  Gannon University, Erie, PA 16541e-mail: zheng003@gannon.eduDepartment of Mathematics, North Central College, Naperville, IL 60540 e-mail: lqgao@noctrl.eduCenter for Advanced Control Technologies, Department of Electrical and Computer Engineering,  Cleveland State University, Cleveland, OH 44115e-mail: z.gao@csuohio.edu

Linda Q. Gao, Zhiqiang Gao

Department of Electrical and Computer Engineering,  Gannon University, Erie, PA 16541e-mail: zheng003@gannon.eduDepartment of Mathematics, North Central College, Naperville, IL 60540 e-mail: lqgao@noctrl.eduCenter for Advanced Control Technologies, Department of Electrical and Computer Engineering,  Cleveland State University, Cleveland, OH 44115e-mail: z.gao@csuohio.edu

1

Corresponding author.

J. Dyn. Sys., Meas., Control 134(2), 024505 (Jan 03, 2012) (6 pages) doi:10.1115/1.4005364 History: Received September 09, 2010; Revised September 22, 2011; Published January 03, 2012; Online January 03, 2012

This paper is concerned with the question of, for a physical plant to be controlled, whether or not its internal dynamics and external disturbances can be realistically estimated in real time from its input–output data. A positive answer would have significant implications on control system design, because it means that an accurate model of the plant is perhaps no longer required. Based on the extended state observer, it is shown that, for an nth order plant, the answer to the above question is indeed yes. In particular, it is shown that the estimation error converges to the origin asymptotically when the model of the plant is given. In face of large dynamic uncertainties, the estimation error is shown to be bounded. Furthermore, it is demonstrated that the error upper bound monotonously decreases with the bandwidth. Note that this is not another parameter estimation algorithm in the framework of adaptive control. It applies to a large class of nonlinear, time-varying processes with unknown dynamics. The solution is deceivingly simple and easy to implement. The results of analysis are further verified through simulation and hardware tests.

FIGURES IN THIS ARTICLE
<>
Copyright © 2012 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

The errors between actual and estimated information with the pulse disturbance applied. (ESO1: without plant information; ESO2: with partial plant information; ESO3: with complete plant information.)

Grahic Jump Location
Figure 2

The ADRC performance with different ESOs for the nonlinear system with the pulse disturbance applied. (ADRC1: ESO without plant information; ADRC2: ESO with partial plant information; ADRC3: ESO with complete plant information.)

Grahic Jump Location
Figure 3

The errors between actual and estimated information with the sinusoidal disturbance applied. (ESO1: without plant information; ESO2: with partial plant information; ESO3: with complete plant information.)

Grahic Jump Location
Figure 4

The ADRC performance with different ESOs for the nonlinear system with the sinusoidal disturbance applied. (ADRC1: ESO without plant information; ADRC2: ESO with partial plant information; ADRC3: ESO with complete plant information.)

Grahic Jump Location
Figure 5

The errors between actual and estimated information with the increased bandwidths and the pulse disturbance applied. (ESO1: without plant information; ESO2: with partial plant information; ESO3: with complete plant information.)

Grahic Jump Location
Figure 6

The ADRC performance with different ESOs for the nonlinear system with the increased bandwidths and the pulse disturbance applied. (ADRC1: ESO without plant information; ADRC2: ESO with partial plant information; ADRC3: ESO with complete plant information.)

Grahic Jump Location
Figure 7

The output comparison among an ideal double integrator, simulation test, and hardware test

Grahic Jump Location
Figure 8

The performance for ECP Model 220 under the control of ADRC

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In