A Gain Design Method for a Linear Extended State Observers to Improve Robustness of Deadbeat Control

2020 ◽  
Vol 35 (4) ◽  
pp. 2231-2239
Author(s):  
Qiushi Zhang ◽  
Ying Fan ◽  
Chenyang Mao
Keyword(s):  
Design Method ◽  
Extended State ◽  
Deadbeat Control ◽  
State Observers

Interaction Force Estimation Using Extended State Observers: An Application to Impedance-Based Assistive and Rehabilitation Robotics

2019 ◽  
Vol 4 (2) ◽  
pp. 1156-1161 ◽  
Author(s):  
Gijo Sebastian ◽  
Zeyu Li ◽  
Vincent Crocher ◽  
Demy Kremers ◽  
Ying Tan ◽  
...  
Keyword(s):  
Interaction Force ◽  
Rehabilitation Robotics ◽  
Extended State ◽  
Force Estimation ◽  
State Observers

scholarly journals Organically Structured Control of Large-Scale Systems with Expanding Construction Based on State Observation

2015 ◽  
Vol 2015 ◽  
pp. 1-21 ◽  
Author(s):  
Li Xiaohua ◽  
Liu Xiaoping ◽  
Liu Yang ◽  
Gao Jiawang
Keyword(s):  
Large Scale ◽  
State Feedback ◽  
Design Method ◽  
State Feedback Control ◽  
Control Laws ◽  
Large Scale Systems ◽  
Large Scale System ◽  
State Observation ◽  
State Observers ◽  
Matrix Condition

This paper presents a new method on the problem of organically structured control based on state observation for a class of large-scale systems with expanding construction. This problem is to design a local state feedback controller and an observer for a new subsystem which is added to a large-scale system without changing the decentralized state feedback control laws of the original construction, so that both the new subsystem and the resulting expanded system are robustly connectively stable. Firstly, based on state observers, the mathematical model of a large-scale system with expanding construction is reestablished and analyzed. In addition, the sufficient condition for robust decentralized connective stabilization of the expanded construction of large-scale systems is deduced by taking an LMI approach, which is further relaxed by removing the square matrix condition on the output matrix. This problem is transformed into solving an LMI problem. The new design method of an organically structured controller and observer for the expanded construction is also given. Finally, the simulation examples show the effectiveness of the proposed method.

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