A Super-Twisting Extended State Observer for Nonlinear Systems

Abstract

Disturbances and uncertainties are the main concerns in control systems. To obtain this information in real time, the extended state observer is proposed as the core of the active disturbance rejection control. However, the estimation errors of extended state observer cannot converge to zero in the presents of unknown but bounded disturbances, which will bring unexpected tracking errors to the closed-loop system. By taking advantage of the linear extended state observer and the super-twisting algorithm, the super-twisting extended state observer is proposed to deal with the non-diminishing second-order derivable disturbances in this paper. The asymptotic convergence of the super-twisting extended state observer and the controller are proved by the Lyapunov method. Moreover, the effectiveness and robustness of the super-twisting extended state observer are verified by simulation analysis. Simulation results show that the proposed super-twisting extended state observer maintains the minimized estimation error with less settling time compared the with linear extended state observer. The tracking performance of the controller with the proposed observer is greatly improved.

Keywords

• active disturbance rejection control (ADRC)
• extended state observer (ESO)
• super-twisting algorithm
• disturbance compensation
• asymptotically stability