ABSTRACT In this paper, both linear extended state observer (ESO) and nonlinear ESO with homogeneous weighted functions are proposed for a class of multi-input multi-output (MIMO) nonlinear systems composed of coupled subsystems with large stochastic uncertainties. The stochastic uncertainties in each subsystem including internal coupled unmodelled dynamics and external stochastic disturbance without known statistical characteristics are lumped together as the stochastic total disturbance (extended state) of each subsystem. The linear ESO and nonlinear ESO are designed separately for real-time estimation of not only the unmeasured state but also the stochastic total disturbance of each subsystem. The practical mean square convergence of these two classes of ESOs are developed. Some numerical simulations are presented to demonstrate the effectiveness of the ESOs with the advantages of smaller peaking values and more accurate estimation by the nonlinear ESO.

中文翻译：

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具有随机不确定性的 MIMO 非线性系统的扩展状态观测器

摘要 在本文中，针对一类由具有大随机不确定性的耦合子系统组成的多输入多输出 (MIMO) 非线性系统，提出了线性扩展状态观测器 (ESO) 和具有齐次加权函数的非线性 ESO。每个子系统中的随机不确定性，包括内部耦合未建模动力学和没有已知统计特征的外部随机扰动，被集中在一起作为每个子系统的随机总扰动（扩展状态）。线性 ESO 和非线性 ESO 分别设计用于实时估计每个子系统的未测量状态和随机总扰动。开发了这两类 ESO 的实际均方收敛。