网络化不确定非线性时滞系统的状态估计  

State estimation for networked uncertain nonlinear systems with time-delays

作　　者：徐雍 饶红霞 王卓 鲁仁全[1] 李宗 Yong XU;Hongxia RAO;Zhuo WANG;Renquan LU;Zong LI(Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control,School of Automation,Guangdong University of Technology,Guangzhou 510006,China;Beihang Hangzhou Innovation Institute Yuhang,Beihang University,Hangzhou 310023,China;The Research Institute for Frontier Science,Beihang University,Beijing 100191,China)

机构地区：[1]广东工业大学自动化学院广东省智能决策与协同控制重点实验室,广州510006 [2]北京航空航天大学杭州创新研究院(余杭),杭州310023 [3]北京航空航天大学前沿科学技术创新研究院,北京100191

出　　处：《中国科学：信息科学》2022年第8期1513-1526,共14页Scientia Sinica(Informationis)

基　　金：广东省重点领域研发计划项目(2021B0101410005);国家自然科学基金(批准号:62121004,61876041,62006043);广东省特支计划本土创新团队(批准号:2019BT02X353);广东省自然科学基金(批准号:2021A1515011634,2021B1515420008)资助项目。

摘　　要：本文研究了离散不确定非线性时滞系统在网络传输不可靠情况下的状态估计问题.针对网络传输丢包问题,采用伯努利(Bernoulli)随机模型,建立了控制信号和输入信号的不可靠传输模型.本文通过状态扩展的方法处理不确定非线性项,得到了扩展状态系统.基于不可靠的控制和测量信息,设计了状态预测器和估计器,并给出相应的误差系统.通过设计最优估计器增益,本文给出了状态预测误差协方差的迭代公式.为了进一步提高状态估计器的精度,设计了一种新型的参数迭代优化方法.针对状态预测误差协方差,本文得到了其稳定性的判别准则.最后,通过一例数值仿真,验证了所得结论的有效性.This paper investigates state estimation for uncertain nonlinear discrete systems with time-delays over unreliable communication channels.The Bernoulli model is used to describe the packet dropout conditions of the control information and the measurement.The extended state approach is introduced to deal with the nonlinear uncertainty,and an extended state system is obtained.The state predictor and the state estimator are designed based on unreliable control inputs and measurements,and their error systems are derived.The iterative equation of the state predictive error covariance is achieved,and its optimal estimator gain is derived.An iterative algorithm is proposed to further optimize the state predictive error covariance.A necessary and sufficient condition to ensure the stability of the state predictive error covariance is achieved.Finally,a numerical example is presented to illustrate the effectiveness of the developed results.

关 键 词：网络化控制系统 扩展状态估计 时滞 不确定非线性 丢包 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]