基于Riccati方程解的非线性降维观测器  

Nonlinear reduced-order observers based on the solution of Riccati equation

作　　者：朱芳来[1,2] 韩正之[3] 

机构地区：[1]桂林电子工业学院计算机系 [2]上海交通大学自动化系,上海200030 [3]上海交通大学自动化系

出　　处：《控制与决策》2002年第4期427-430,共4页Control and Decision

摘　　要：对 L ipschitz非线性系统降维观测器进行讨论。在代数 Riccati方程有正定解的前提下 ,指出L ipschitz非线性系统存在降维观测器 ,它取决于所考虑的代数 Riccati方程的正定解。给出了降维观测器的设计方法 。The reduced-order observer design problems of Lipschitz nonlinear systems are discussed. The reduced-order observer for Lipschitz nonlinear system is based on the solution of a Riccati equation. To examine the practical usefulness of the proposed observer, it is applied to a real robotic mode. The simulation results show that the proposed reduced-order observer has good performances.

关 键 词：降维观测器 RICCATI方程 LIPSCHITZ条件 非线性 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]