Extended-State-Observer-Based Tracking Control for Motor-drive Systems with State Constraints and Unknown Disturbances

In order to address the state constraints of the motor-drive systems (MDS) with the unknown disturbances, a funnel control strategy based on extended state observer (ESO) is proposed. The unknown disturbances (modeling error, nonlinear frictions and unknown disturbance torque) and unknown speed in the MDS were estimated by a time varying gain ESO, which has better transient behavior of the estimat...