自适应扩张状态观测器收敛性分析与应用

Convergence analysis and application of adaptive extended state observer

为了实现自适应扩张状态观测器理论分析的简洁和工程应用的直观,本文提出了一种自适应扩张状态观测器(adaptive extended state observer, AESO),并给出了收敛性证明过程.然后,将其应用到直线电机伺服系统中,设计了基于AESO的PD控制器.实验结果表明,提出的AESO可以准确估计系统的状态和受到的干扰,并且可以消除高增益线性扩张状态观测器固有的峰化现象,同时还验证了设计的观测器–控制器的有效性.

In order to realize the simplicity of the theoretical analysis of the adaptive extended state observer and the intuition of the engineering application, we propose a type of adaptive extended state observer (AESO) in this paper and give the convergence proof. Then, we apply it to the linear motor servo system and design the PD controller based on AESO. The experimental results show that the proposed AESO can accurately estimate the state and disturbance of the system, and eliminate the peaking phenomenon of the high-gain linear extended state observer. Meanwhile, it also verifies the effectiveness of the observer-based controller.