1. A New Approach to Nonlinear State Observation for Affine Control Dynamical Systems
- Author
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Ahmad Taher Azar, Drai Ahmed Smait, Sami Muhsen, Moayad Abdullah Jassim, Asaad Abdul Malik Madhloom AL-Salih, Ibrahim A. Hameed, Anwar Ja’afar Mohamad Jawad, Wameedh Riyadh Abdul-Adheem, Vincent Cocquempot, Mouayad A. Sahib, Nashwa Ahmad Kamal, Ibraheem Kasim Ibraheem, Prince Sultan University [Riyad], Benha University (BU), Al-Mustaqbal University College, Norwegian University of Science and Technology (NTNU), Baghdad University, Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Dijlah University College, Benha University [BU], and Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
- Subjects
Fluid Flow and Transfer Processes ,generalized disturbance ,Lyapunov method ,state estimator ,model uncertainty ,nonlinear systems ,active disturbance rejection control ,Process Chemistry and Technology ,General Engineering ,Computer Science Applications ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,[INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY] ,General Materials Science ,Instrumentation - Abstract
International audience; In this work, a Nonlinear Higher Order Extended State Observer (NHOESO) is presented to replace the Linear Extended State Observer (LESO) used in Conventional Active Disturbance Rejection Control (C-ADRC) solutions. In the NHOESO, the standard LESO is completed with a two-term smooth nonlinear function with saturation-like characteristics. The proposed novel NHOESO enables precise observation of the generalized disturbances with higher-order derivatives. The stability of the NHOESO is examined with the aid of the Lyapunov method. A simulation of an uncertain nonlinear Single-Input–Single-Output (SISO) system with time-varying external disturbances confirms that the proposed NHOESO copes well with the generalized disturbance, which is not true for other ESOs.
- Published
- 2023
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