A class of extended state observers with fractional power function for compound disturbance

Abstract

A class of extended state observers with fractional power function for compound disturbance is discussed in this paper. Disturbances are approximated in sinusoidal and polynomial forms. A detailed disturbance modeling process is given. Using the effect of non-smooth feedback on disturbance suppression and error decay rate, a class of extended state observers with fractional power function is proposed. Asymptotic convergence analysis shows that the effectiveness of compound disturbance rejection is improved. Numerical simulations are carried out to demonstrate its improvement on compound disturbance.