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Extended state observer (ESO) is featured with online estimating both the system's states and the total effect of external disturbance as well as nonlinear uncertain dynamics. The original ESO design, proposed for the cascade‐of‐integrator system without measurement noise, has been well studied with theoretical foundation and many successful applications. In the last years, multifarious modified ESOs have also been developed to handle many engineering systems captured by the models with general nonlinear structure, time‐delay, the noises with stochastic properties, and etc. This paper aims to comprehensively investigate the representative modified ESOs in recent years. Firstly, the ESO's design and tuning law are illustrated for general uncertain systems with multiple control inputs, multiple measured outputs and various uncertainties. The quantitative results regarding the estimation errors of ESO are also presented. Next, the extended state‐based Kalman‐typed filters to handle state estimation problem against both stochastic noises and uncertain dynamics are introduced. The consistency, stability, and asymptotic optimization of the proposed filters are rigorously shown. Furthermore, some novel designs of ESO to deal with the estimation problem of uncertain nonlinear systems with time‐delay and measurement biases are discussed. We believe this overview will be helpful for practitioners in applications of recent modified ESOs. [ABSTRACT FROM AUTHOR]

This paper proposes a Kalman filter-based attitude (i.e., roll and pitch) estimation algorithm using an inertial sensor composed of a triaxial accelerometer and a triaxial gyroscope. In particular, the proposed algorithm has been developed for accurate attitude estimation during dynamic conditions, in which external acceleration is present. Although external acceleration is the main source of the attitude estimation error and despite the need for its accurate estimation in many applications, this problem that can be critical for the attitude estimation has not been addressed explicitly in the literature. Accordingly, this paper addresses the combined estimation problem of the attitude and external acceleration. Experimental tests were conducted to verify the performance of the proposed algorithm in various dynamic condition settings and to provide further insight into the variations in the estimation accuracy. Furthermore, two different approaches for dealing with the estimation problem during dynamic conditions were compared, i.e., threshold-based switching approach versus acceleration model-based approach. Based on an external acceleration model, the proposed algorithm was capable of estimating accurate attitudes and external accelerations for short accelerated periods, showing its high effectiveness during short-term fast dynamic conditions. Contrariwise, when the testing condition involved prolonged high external accelerations, the proposed algorithm exhibited gradually increasing errors. However, as soon as the condition returned to static or quasi-static conditions, the algorithm was able to stabilize the estimation error, regaining its high estimation accuracy. [ABSTRACT FROM AUTHOR]