三阶扩张状态观测器的优化参数配置方法

Parameter optimization of third-order extended state observer

研究三阶非线性扩张状态观测器扰动观测性能的优化问题.首先,采用系数冻结法固定与观测器状态相关的非线性系数,利用线性系统的极点配置方法进行频带拓展;然后,分析配置后的极点随非线性系数的变化规律,在此基础上,提出一种保证扰动观测带宽受系统状态变化影响最小的参数配置方法;最后,通过算例和仿真对比表明了所提出参数配置方法的有效性和优越性.

The optimization problem of the disturbance observation performance is investigated for the third-order nonlinear extended state observer（ESO）. Firstly, the frozen-coefficient method is employed to fix the nonlinear coefficient related to the observer state, and the bandwidth is extended by means of the pole assignment method in linear system theory. Then, the variation of the assigned poles with the nonlinear coefficient is analyzed. Consequently, an optimized parameter configuration method is proposed to minimize the variation of the disturbance observation bandwidth with observer state. Finally, the simulation comparison is conducted to show the effectiveness and superiority of the proposed method.