常规和加阶比例非线性积分观测器

Baishun Liu, Xiang-Qian Luo, Jian-Hui Li
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引用次数: 4

摘要

本文提出了一种新的非线性积分器及其积分作用。为此,提出了一种传统的比例非线性积分(P_NI)观测器和两种加阶P_NI观测器来处理不确定非线性系统。给出了观测器增益保证估计误差为极限有界的条件,当状态和控制输入收敛到平衡点时,估计误差缩小到零。这意味着如果观察到的系统是渐近稳定的,估计的误差动力学也是渐近稳定的。此外,本文的重点是利用线性系统理论实现了非线性积分观测器的设计。仿真结果表明,在正常和摄动情况下,纯加阶P_NI观测器可以有效地处理系统动力学和测量输出的不确定非线性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Conventional and Added-Order Proportional Nonlinear Integral Observers
In this paper, a kind of fire new nonlinear integrator and integral action is proposed. Consequently, a conventional Proportional Nonlinear Integral (P_NI) observer and two kinds of added-order P_NI observers are developed to deal with the uncertain nonlinear system. The conditions on the observer gains to ensure the estimated error to be ultimate boundness, which shrinks to zero as the states and control inputs converge to the equilibrium point, are provided. This means that if the observed system is asymptotically stable, the estimated error dynamics is asymptotically stable, too. Moreover, the highlight point of this paper is that the design of nonlinear integral observer is achieved by linear system theory. Simulation results showed that under the normal and perturbed cases, the pure added-order P_NI observer can effectively deal with the uncertain nonlinearities on both the system dynamics and measured outputs.
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