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| On geometric interpretation of extended state observer – A preliminary study |
| JinfengChen,ZhiqiangGao |
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| (Center for Advanced Control Technologies, Cleveland State University, 2121 Euclid Avenue, Cleveland, OH, 44115, USA) |
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| 摘要: |
| Borrowing the framework of the geometric approach, this paper tries to analyze and explain why it is possible for the extended state observer (ESO) to estimate the state vector and total disturbance accurately. The geometric approach has provided an elegant and rigorous framework to redefine some key concepts in modern control theory, such as controllability and observability. Moreover, those concepts can be extended to deal with systems in the presence of inaccessible disturbances, such as controlled invariants and conditioned invariants. It is shown in this paper that the augmented system of the ESO is unknown-state unknown-input completely reconstructable in finite time interval. A numerical simulation is given to verify the state vector and total disturbance can be estimated accurately by the ESO if the augmented system is unknown-state unknown-input completely reconstructable. |
| 关键词: Extended state observer · Geometric approach · Observability · Uncertain linear systems |
| DOI：https://doi.org/10.1007/s11768-023-00130-5 |
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| 基金项目: |
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| On geometric interpretation of extended state observer – A preliminary study |
| Jinfeng Chen,Zhiqiang Gao |
| (Center for Advanced Control Technologies, Cleveland State University, 2121 Euclid Avenue, Cleveland, OH, 44116, USA) |
| Abstract: |
| Borrowing the framework of the geometric approach, this paper tries to analyze and explain why it is possible for the extended state observer (ESO) to estimate the state vector and total disturbance accurately. The geometric approach has provided an elegant and rigorous framework to redefine some key concepts in modern control theory, such as controllability and observability. Moreover, those concepts can be extended to deal with systems in the presence of inaccessible disturbances, such as controlled invariants and conditioned invariants. It is shown in this paper that the augmented system of the ESO is unknown-state unknown-input completely reconstructable in finite time interval. A numerical simulation is given to verify the state vector and total disturbance can be estimated accurately by the ESO if the augmented system is unknown-state unknown-input completely reconstructable. |
| Key words: Extended state observer · Geometric approach · Observability · Uncertain linear systems |
