Cunde Jia

You are already at the latest version To address the performance degradation of standard linear extended state observers (LESO) caused by severe peaking phenomena with increasing system order, which compromises controller accuracy, this paper proposes an innovative output feedback controller using a cascaded observer structure. Through the uniform exponential stability (UES) criterion, we demonstrate that the proposed observer guarantees bounded tracking errors for system states.

1. Introduction In recent years, with the continuous advancement of foundation engineering, pile foundation construction equipment has received widespread attention and development. The rotary drilling rig is an ideal choice for drilling operations due to its high power and convenient use [1]. However, traditional rotary drilling machines have drawbacks, such as the construction efficiency being unstable, and the operation relies on the experience of the operator [2].