非线性不确定系统的鲁棒滑模观测器设计  

Robust sliding mode observer design of nonlinear uncertain systems

作　　者：鲍晟[1] 冯勇[1] 孙黎霞[1] 

机构地区：[1]哈尔滨工业大学电气工程系,黑龙江哈尔滨150001

出　　处：《哈尔滨工业大学学报》2004年第5期613-616,共4页Journal of Harbin Institute of Technology

基　　金：哈尔滨工业大学交叉学科基金资助项目(HIT2002.18).

摘　　要：Walcott-Zak观测器虽然对系统的非线性/不确定性具有鲁棒性,但观测器的设计需要满足严格的假设条件,设计参数的选取需要计算大量不等式.针对当系统维数较高时,Walcott-Zak观测器难以设计,在Walcott-Zak观测器基础上,提出了一种鲁棒滑模观测器,基于设计新的控制策略,避免了Walcott-Zak观测器所必须满足的严格条件.其设计条件没有Walcott-Zak观测器苛刻,设计参数的选取不需要求解大量方程,同时能保证对系统的非线性/不确定性具有鲁棒性.通过设计滑模,可以调整观测器跟踪系统状态的收敛速度,使状态估计达到预期的指标.仿真结果验证了控制策略的有效性.The Walcott-Zak observer is robust to the nonlinearities and/or uncertainties of systems. But its design must satisfy strict conditions, and is associated with a lot of manipulation and solution of the inequalities. For the high-order systems, it is difficult to design. Based on Walcott-Zak observer, a robust sliding mode observer is presented, and a control strategy in the observer is proposed to avoid the strict condition in design of the Walcott-Zak observer. The condition that should be satisfied for designing the observers is not so strict as that of the Walcott-Zak observer. The design of the observer's parameters need not solve a lot of equations. The observer proposed is robust to the nonlinearities and/or uncertainties of systems. The convergence rate between the observer and the system can be changed by choosing a suitable sliding mode manifold, so as to attain the desired performances. Simulation results are presented to validate the design.

关 键 词：非线性不确定系统 鲁棒滑模观测器 设计 控制策略 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]