A New Approach to Nonlinear State Observation for Affine Control Dynamical Systems

Author:

Azar Ahmad Taher12ORCID,Smait Drai Ahmed3,Muhsen Sami4,Jassim Moayad Abdullah5,AL-Salih Asaad Abdul Malik Madhloom6,Hameed Ibrahim A.7ORCID,Jawad Anwar Ja’afar Mohamad8,Abdul-Adheem Wameedh Riyadh9ORCID,Cocquempot Vincent10ORCID,Sahib Mouayad A.11ORCID,Kamal Nashwa Ahmad12,Ibraheem Ibraheem Kasim13ORCID

Affiliation:

1. College of Computer and Information Sciences, Prince Sultan University, Riyadh 11586, Saudi Arabia

2. Faculty of Computers and Artificial Intelligence, Benha University, Benha 13518, Egypt

3. College of Law, The University of Mashreq, Baghdad 11001, Iraq

4. Air Conditioning and Refrigeration Techniques Engineering Department, Al-Mustaqbal University College, Babylon 51001, Iraq

5. College of Education, Al-Farahidi University, Baghdad 11001, Iraq

6. Department of Computer Engineering Techniques, Alnukhba University College, Baghdad 11001, Iraq

7. Department of ICT and Natural Sciences, Norwegian University of Science and Technology, Larsgårdsve-gen, 2, 6009 Ålesund, Norway

8. Department of Computer Techniques Engineering, Al-Rafidain University College, Baghdad 46036, Iraq

9. Department of electrical engineering, College of Engineering, University Baghdad, Baghdad 10001, Iraq

10. CNRS, Centrale Lille, UMR 9189-CRIStAL-Centre de Recherche en Informatique, Signal et Automatique de Lille, University of Lille, F-59000 Lille, France

11. College of Engineering, University of Information Technology and Communications, Baghdad 10001, Iraq

12. Faculty of Engineering, Cairo University, Giza 12613, Egypt

13. Department of Computer Techniques Engineering, Dijlah University College, Baghdad 10022, Iraq

Abstract

In this work, a Nonlinear Higher Order Extended State Observer (NHOESO) is presented to replace the Linear Extended State Observer (LESO) used in Conventional Active Disturbance Rejection Control (C-ADRC) solutions. In the NHOESO, the standard LESO is completed with a two-term smooth nonlinear function with saturation-like characteristics. The proposed novel NHOESO enables precise observation of the generalized disturbances with higher-order derivatives. The stability of the NHOESO is examined with the aid of the Lyapunov method. A simulation of an uncertain nonlinear Single-Input–Single-Output (SISO) system with time-varying external disturbances confirms that the proposed NHOESO copes well with the generalized disturbance, which is not true for other ESOs.

Funder

Norwegian University of Science and Technology

Publisher

MDPI AG

Subject

Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science

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