一种非线性不确定系统的鲁棒H_∞滤波方法研究  

Robust H_∞ Filter Algorithm for Nonlinear Uncertain System

作　　者：乔国栋[1,2] 黎康[1,2] 曾海波[1,2] 

机构地区：[1]北京控制工程研究所,北京100190 [2]空间智能控制技术重点实验室,北京100190

出　　处：《空间控制技术与应用》2011年第4期45-48,62,共5页Aerospace Control and Application

基　　金：国防基础科研项目(A0320080019)

摘　　要：考虑EKF滤波方法的线性化过程对估计误差的影响,提出一种非线性不确定系统的鲁棒H∞滤波方法.基于H∞理论,该算法将滤波模型和观测模型在线性化过程中所产生的误差作为系统的不确定部分,力求此误差对导航精度的影响最小,并且利用李亚普诺夫方法证明了该滤波算法的稳定性.利用所提算法对月球环绕段自主导航系统进行滤波估计,仿真结果证实了算法的有效性.In light of the effect of linearization on estimation error in EKF filter, a kind of robust H∞ filter algorithm for nonlinear uncertain system is proposed. Based on H∞ theory, the proposed algorithm is designed. The linearization errors of filter model and measure model are defined as uncertain parts of the system; the robust H∞ filter algorithm could minimize the effect of uncertain parts on navigation acccuracy. By using Lyapunov method, the stability of proposed algorithm is proven. Both robust H∞ filter algorithm and EKF algorithm are utilized to estimate states of the autonomous navigation system in the lunar-rounding phase, the simulation results validate effectiveness of the robust Ha filter algorithm.

关 键 词：李亚普诺夫稳定性 非线性不确定系统 鲁棒H∞滤波 月球探测 

分 类 号：V448[航空宇航科学与技术—飞行器设计]