论文标题
级联延长的状态观察者用于测量噪声下的主动干扰拒绝控制应用
Cascade Extended State Observer for Active Disturbance Rejection Control Applications under Measurement Noise
论文作者
论文摘要
扩展的状态观察者（ESO）在非线性系统的反馈控制中起着重要作用。但是，在输出测量因不可忽略的高频噪声破坏的情况下，其高增强性质在工程实践中构成了挑战。这种噪音的存在对观察者的收益有多大限制，这迫使州估计的快速收敛与控制任务实现的质量之间的权衡。在这项工作中，提出了一种新的观察者设计，以提高噪声存在下的估计性能。特别是，开发了ESOS的独特级联组合，该组合能够快速准确地重建，同时避免过度放大测量噪声。在此处验证了引入的观察者结构的有效性，同时是主动干扰拒绝控制（ADRC）方案的一部分。在噪声衰减方面，对新观察者结构进行的数值验证和理论分析显示出比标准解决方案的改善。
The extended state observer (ESO) plays an important role in the design of feedback control for nonlinear systems. However, its high-gain nature creates a challenge in engineering practice in cases where the output measurement is corrupted by non-negligible, high-frequency noise. The presence of such noise puts a constraint on how high the observer gains can be, which forces a trade-off between fast convergence of state estimates and quality of control task realization. In this work, a new observer design is proposed to improve the estimation performance in the presence of noise. In particular, a unique cascade combination of ESOs is developed, which is capable of fast and accurate signals reconstruction, while avoiding over-amplification of the measurement noise. The effectiveness of the introduced observer structure is verified here while working as a part of an active disturbance rejection control (ADRC) scheme. The conducted numerical validation and theoretical analysis of the new observer structure show improvement over standard solution in terms of noise attenuation.
