Output tracking based on extended observer for nonlinear uncertain systems

Xinhua Wang; Zengqiang Chen; Zhuzhi Yuan

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arXiv · 2302.05079

Output tracking based on extended observer for nonlinear uncertain systems

Xinhua Wang·Zengqiang Chen·Zhuzhi Yuan

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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.

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Xinhua Wang, Zengqiang Chen, Zhuzhi Yuan. 2023-02-10. Output tracking based on extended observer for nonlinear uncertain systems. https://arxiv.org/abs/2302.05079

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