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arXiv · 1805.00257

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

Ibraheem Kasim Ibraheem·Amjad J. Humaidi
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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.

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Ibraheem Kasim Ibraheem, Amjad J. Humaidi. 2018-05-01. On The Design of a Novel Finite-Time Nonlinear Extended State Observer for Class of Nonlinear Systems with Mismatch Disturbances and Uncertainties. https://arxiv.org/abs/1805.00257

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