| 引用本文: | 韩渭辛,王振华,沈毅.不确定非线性系统的L∞观测器[J].控制理论与应用,2019,36(5):705~710.[点击复制] |
| HAN Wei-xin,WANG Zhen-hua,SHEN Yi.L∞ observer for uncertain nonlinear systems[J].Control Theory & Applications,2019,36(5):705~710.[点击复制] |
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| 不确定非线性系统的L∞观测器 |
| L∞ observer for uncertain nonlinear systems |
| 摘要点击 3221 全文点击 1411 投稿时间：2017-12-11 修订日期：2018-06-01 |
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| DOI编号 10.7641/CTA.2018.70923 |
| 2019,36(5):705-710 |
| 中文关键词 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 |
| 英文关键词 Nonlinear system L∞ observer parameter uncertainty peak-to-peak gain disturbance attenuation |
| 基金项目 国家自然科学基金 |
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| 中文摘要 |
| 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. |
| 英文摘要 |
| 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. |