Frequency‐shifting‐based algebraic approach to extended state observer design

Scientific paper - Original scientific paper

• Author: Josip Kasac
• Author: Antonia Pender
• Author: Marko Pranjic
• Author: Denis Kotarski
• Author's institution: Karlovac University of Applied Sciences
• Author's institution: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; (Department of Robotics and Production System Automation); (Chair of Engineering Automation)
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract (english)

Abstract In this paper, a frequency‐shifting‐based (FSB) algebraic approach to the extended state observer (ESO) design is proposed. The proposed algebraic approach provides almost instantaneous convergence toward the exact values of the system states and disturbances. The main benefit of the proposed approach is the elimination of the peaking phenomenon, which is inevitable in the case of the conventional observer design. In comparison with the linear ESO, the proposed algebraic ESO is less sensitive to the choice of the observer bandwidth, and it is more robust to the measurement noise. The simulation and experimental results illustrate the efficiency of the proposed algebraic approach in comparison with the linear ESO.

• Language: english
• Publication type: Scientific paper - Original scientific paper
• Publication status: Published
• Peer review: Peer review - international
• Publication version: Accepted version
• Journal title: Asian Journal of Control
• Numbering: vol. 23, no. 5, pp. 2171-2184
• BPC: 0 EUR
• p-ISSN: 1561-8625
• e-ISSN: 1934-6093
• DOI: https://doi.org/10.1002/asjc.2516
• URN:NBN: urn:nbn:hr:235:494747
• Publication: 2021-02-14
• Document URL: https://onlinelibrary.wiley.com/doi/10.1002/asjc.2516
• Type of resource: Text
• Access conditions: Open access
• Created on: 2024-07-02 22:07:37