Adaptive Semiglobal Nonlinear Output Regulation:An Extended-State Observer Approach

TL;DR

This paper introduces an extended-state observer-based framework for adaptive nonlinear regulation, enabling improved handling of uncertainties in nonlinear systems through an integrated internal model approach.

Contribution

It presents a novel adaptive regulator design method combining extended-state observers with internal models for nonlinear systems with uncertain parameters.

Findings

Effective estimation of uncertain parameters using the proposed observer.

Enhanced adaptive regulation performance in nonlinear systems.

Framework applicable under general nonlinear parameterization conditions.

Abstract

This paper proposes a new extended-state observer-based framework for adaptive nonlinear regulator design of a class of nonlinear systems, in the general nonequilibrium theory. By augmenting an extended-state observer with an internal model, one is able to obtain an estimate of the term containing uncertain parameters, which then makes it possible to design an adaptive internal model in the presence of a general nonlinearly parameterized immersion condition.