|Robust Output Tracking Control for a Class of Uncertain Nonlinear Systems Using Extended State Observer
Yan Zhao, Jiang-Bo Yu*, and Jie Tian
International Journal of Control, Automation, and Systems, vol. 15, no. 3, pp.1227-1235, 2017
Abstract : "This paper investigates the global robust output tracking control problem via output feedback for a class
of nonlinear uncertain systems with the integral input-to-state stable (iISS) dynamic uncertainties. By performing
the coordinates transformation and employing an extended state observer (ESO), it can be seen that the robust setpoint
tracking control is well solved. The proposed control strategy simplifies the control design procedure. This
control scheme finds its application in the mass-spring mechanical system. It is shown that the asymptotic tracking
control for any desired displacement can be achieved in the mass-spring mechanical system in the case of unknown
parameters. The simulation results demonstrate that the proposed control scheme has a better tracking performance.
This verifies the effectiveness of the developed method."
Dynamic uncertainty, extended state observer, nonlinear systems, output feedback, tracking control