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- 저자 : Yan-Rou Cai (검색결과 1 건)
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Yen-Chun Chen,Yan-Rou Cai,Ming-Yang Cheng,Ke-Han Su 한국정밀공학회 2023 International Journal of Precision Engineering and Vol.24 No.3
The main idea behind the conventional extended state observer is that the total disturbance including nonlinearity, modeling error, and external disturbance, etc., is regarded as an augmented state variable which can be estimated using system input/output, system parameters and a nonlinear function. In order to further improve estimation accuracy, this paper proposes an adaptive PI-type sliding mode nonlinear extended state observer (APISMESO). In particular, a nonlinear function that contains an integral term is used in the proposed observer structure to reduce estimation error, especially when dealing with static friction and high-frequency noise often existing in servomechanisms. Moreover, an adaptive law is designed to provide on-line estimation of system parameters. In addition, the stability of the complementary sliding mode control scheme with the proposed APISMESO is investigated using the Lyapunov stability theory. Several contour following experiments are performed to compare the performance of the proposed APISMESO with that of several existing variants of extended state observers. Experimental results reveal that the proposed APISMESO outperforms the other variants of extended state observers also tested in the experiment.
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