On The Design of a Novel Finite-Time Nonlinear Extended State Observer for Class of Nonlinear Systems with Mismatch Disturbances and Uncertainties

TL;DR

This paper introduces a finite-time nonlinear extended state observer (NLESO) for nonlinear systems, effectively estimating and canceling disturbances and uncertainties to improve control stability, demonstrated through simulations on a PMDC motor.

Contribution

A novel NLESO design that reduces peaking phenomena and enhances disturbance rejection in nonlinear systems using finite-time stability analysis.

Findings

NLESO outperforms LESO in disturbance estimation accuracy.

Significant reduction in peaking phenomenon with saturation-like nonlinear function.

Effective stabilization of nonlinear systems demonstrated via PMDC motor simulations.

Abstract

In this paper, a novel finite - time Nonlinear Extended State Observer (NLESO) is proposed and employed in Active Disturbance Rejection Control (ADRC) to stabilize a nonlinear system against system's uncertainties and discontinuous disturbances using output feedback technique. The first task was to aggregate the uncertainties, disturbances, and any other undesired nonlinearities in the system into a single term called the "generalized disturbance". Consequently, the ESO estimates the generalized disturbance and cancel it from the input channel in an online fashion. A peaking phenomenon that existed in Linear ESO (LESO) has been reduced significantly by adopting a saturation - like nonlinear function in the proposed Nonlinear ESO (NLESO). Stability analysis of the NLEO is studied using finite - time Lyapunov theory, and the comparisons are presented over simulations on Permanent Magnet DC (PMDC) motor to confirm the effectiveness of the proposed observer concerning LESO.