Nonlinear Extended State Observer for Hybrid Dynamical Systems

Abstract:

This paper introduces a nonlinear disturbance observer for hybrid dynamical systems with continuous and discrete dynamics. The hybrid dynamical system considered in this work is a bipedal robot. The robot is modeled by a continuous mathematical model connected to a discrete reset functions. The continuous and discrete dynamics are exposed to model parameter uncertainties and external disturbances. The uncertainties and disturbances in the continuous dynamics are lumped into a total disturbance signal, which is estimated through a nonlinear extended state observer (NESO). The disturbance estimation is used to design an active disturbance rejection control (ADRC). To address the reset function uncertainties on the discrete dynamics, a reference trajectory generator is designed to achieve zero tracking error after each reset function using a smooth transition function from the system state to the nominal …

Año de publicación:

2019

Keywords:

Fuente:

google