多滑模观测器的非线性系统不确定性诊断与重构修改  

Uncertainty Diagnosis and Reconstruction of the Nonlinear System Based on Multi-sliding Mode Observers

作　　者：张志强[1] 张爱华[1] 伦淑娴[1] 

机构地区：[1]渤海大学工学院,辽宁锦州121013

出　　处：《信息与控制》2013年第5期529-535,共7页Information and Control

基　　金：国家自然科学基金资助项目(61304149);辽宁省教育厅重点实验室项目(LS2010180);辽宁省自然科学基金资助项目(201202003)

摘　　要：针对一类系具有不确定性的非线性系统,给出一种基于多滑模观测器的非线性系统不确定性诊断与重构方法.该方法利用非线性转换将初始系统分为2个子系统,采用多重滑模处理多重输入干扰.在干扰分布矩阵结构假设下,多重滑模观测器的设计确保对未知输入的完全可观性,未知输入通过估计输出误差在多重滑模处重建.同时,估计反馈增益的设计保证了残差估计的渐近稳定性.实验仿真以单节机械手为例,验证了所提方法可实现对不确定信息的有效诊断与重构.Uncertainty diagnosis and reconstruction of the nonlinear system based on multi-sliding mode observers is proposed for a class of nonlinear system with uncertainty. The method divides the original system into two subsystems via nonlinear transformation, and the multi-input external disturbance can be eliminated by multi-sliding mode. The unknown input can be guaranteed to be observed and reconstructed by the design of the multi-sliding mode observers under hypothetical construct of the disturbance distribution matrix and the unknown inputs can be reconstructed via the outputs estimated error on the multi-sliding mode. Simultaneously, the estimation feedback gain design assures the asymptotical stability of the residual errors. Finally, the effectiveness of the proposed method is demonstrated by a simulation example on a single-link flexible joint robot.

关 键 词：多滑模观测器 不确定性 诊断 重构 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]