Finite-Time Extended State Observer Design for Nonlinear Systems with Prescribed Performance

In this paper, a finite-time extended state observer design approach is proposed for a class of uncertain single-input single-output nonlinear systems. A novel extended state observer which can achieve finite time convergence is firstly constructed to estimate the total disturbance. A performance function is used and a new error transformation is provided to guarantee the transient and steady performance. By using the backstepping method, the prescribed performance controller is then developed. Simulation results are conducted to validate the effectiveness of the theoretical results.

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