Output tracking based on extended observer for nonlinear uncertain systems

TL;DR

This paper introduces a high-gain extended observer for nonlinear uncertain systems that accurately estimates uncertainties and derivatives, enabling rapid convergence of tracking errors even amidst disturbances, demonstrated through simulation.

Contribution

A novel high-gain extended observer is developed for nonlinear uncertain systems, improving estimation accuracy and control performance under uncertainties.

Findings

Effective estimation of system uncertainties and derivatives.

Rapid convergence of tracking errors demonstrated.

Satisfactory control performance shown in simulations.

Abstract

A high-gain extended observer is designed for a class of nonlinear uncertain systems. This observer has the ability of estimating system uncertainty, and it can be used to estimate the derivatives of signal up to order n. The controller based on this extended observer can make the tracking error and its derivatives converge to zero rapidly even when uncertainties and disturbances exist. The result of simulation indicates that this method has satisfactory control performance for nonlinear uncertain systems.