不确定非线性系统的L_∞观测器  

L_∞ observer for uncertain nonlinear systems

作　　者：韩渭辛 王振华[1] 沈毅[1] HAN Wei-xin;WANG Zhen-hua;SHEN Yi(School of Astronautics,Harbin Institute of Technology,Harbin Heilongjiang 150001,China)

机构地区：[1]哈尔滨工业大学航天学院

出　　处：《控制理论与应用》2019年第5期705-710,共6页Control Theory & Applications

基　　金：国家自然科学基金项目(61773145,61403104)资助~~

摘　　要：针对具有参数不确定性和未知干扰的Lipschitz非线性系统,提出了一种L∞观测器设计方法.在未知干扰有界的假设下,基于Lyapunov稳定性理论给出了误差系统满足L∞性能指标的设计条件,并将其转化为方便求解的线性矩阵不等式形式.所提出的L∞观测器不仅具有峰值到峰值形式的干扰抑制性能,而且能够给出估计误差的实时范围.最后,通过一个单连杆机械臂的仿真算例验证了所提出方法的有效性.For Lipschtiz nonlinear systems subjected to parameter uncertainty and unknown disturbances, an L∞ observer design method is proposed. Under the assumption that the unknown disturbances are bounded, sufficient conditions for the design of L∞ observer are derived based on Lyapunov stability theory. In addition, the conditions are expressed in terms of linear matrix inequalities(LMIs), which can be efficiently solved. The proposed L∞ observer not only attenuates bounded disturbances but also provides an upper bound of estimation error norm online. Finally, one-link manipulator simulation example is presented to illustrate the effectiveness of the proposed method.

关 键 词：非线性系统 L∞观测器 参数不确定性 峰值到峰值增益 干扰抑制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]