首页|An extended state observer with adjustable bandwidth for measurement noise
An extended state observer with adjustable bandwidth for measurement noise
扫码查看
点击上方二维码区域，可以放大扫码查看
原文链接
NETL
NSTL
万方数据
维普
In this paper,a bandwidth-adjustable extended state observer(ABESO)is proposed for the systems with measure-ment noise.It is known that increasing the bandwidth of the observer improves the tracking speed but tolerates noise,which conflicts with observation accuracy.Therefore,we introduce a bandwidth scaling factor such that ABESO is formulated to a 2-degree-of-freedom system.The observer gain is determined and the bandwidth scaling factor adjusts the bandwidth according to the tracking error.When the tracking error decreases,the band-width decreases to suppress the noise,otherwise the band-width does not change.It is proven that the error dynamics are bounded and converge in finite time.The relationship between the upper bound of the estimation error and the scaling factor is given.When the scaling factor is less than 1,the ABESO has higher estimation accuracy than the linear extended state observer(LESO).Simulations of an uncertain nonlinear system with compound disturbances show that the proposed ABESO can successfully estimate the total disturbance in noisy environ-ments.The mean error of total disturbance of ABESO is 15.28%lower than that of LESO.
extended state observer(ESO)boundedness and convergenceadjustable bandwidthmeasurement noise
ZHANG Shihua、QI Xiaohui、YANG Sen
展开 >
Shijiazhuang Campus,Army Engineering University of PLA,Shijiazhuang 050053,China
NETL
NSTL
万方数据
维普
