共查询到16条相似文献,搜索用时 93 毫秒
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利用系统已知信息构造的扩张状态观测器(extended state observer,ESO)称之为修改型扩张状态观测器.本文完善了修改型扩张状态观测器(modified extended state observer,MESO)的假设条件,并分析了相对于常规的扩张状态观测器,修改型扩张状态观测器估计精度更高的原因.针对系统模型参数不确定情况,提出了基于最小二乘法的修改型扩张状态观测器实现方法,并详细论述了最小二乘法在线辨识系统模型的原理.仿真结果与理论分析结果一致,验证了修改型扩张状态观测器理论分析的正确性和实现方法的可行性. 相似文献
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跟踪-微分器用于连续系统辨识 总被引:3,自引:0,他引:3
利用跟踪- 微分器估计连续系统状态并用最小二乘法估计系统参数,直接对连续系统进行辨识。仿真结果表明,不论是线性系统,还是非线性系统,只要结构对参数是线性的,利用这种方法都能有效地将其参数辨识出来 相似文献
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跟踪—微分器用于连续系统辨识 总被引:3,自引:1,他引:2
利用跟踪-微分器估计连续系统状态并用最小二乘法估计系统参数,直接对连续系统进行辨识。仿真结果表明,不论是线性系统,还是非线性系统,只要结构对参数是线性的,利用这种方法都能有效地将其参数辨识出来。 相似文献
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一类不确定对象的扩张状态观测器 总被引:143,自引:12,他引:143
利用观测器形式的跟踪一微分器,对形如x^(n)=f(x,x,...X^(n-1),t)+W(t)的不确定系统给出了“扩张状态观测器”。只要适当选取观测器中的非线性函数和相应参数,它能很好地跟踪一批不确定对象的扩张状态。 相似文献
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针对机械臂遥操作系统中存在的时变时延问题,提出了基于广义扩张状态观测器的控制方法,实现了遥操作系统稳定并且主从机械臂关节角位置同步的控制目标。首先通过反馈线性化,将遥操作系统的主从机械臂动力学模型转化为一个关于位置跟踪误差和时延的状态空间模型。针对该多输入多输出的干扰不匹配模型,设计了广义扩张状态观测器和相应的控制律,从而消除了时变时延以及其它扰动引起的不确定性对系统的影响,并对系统进行稳定性和抗扰性分析。最后,通过仿真验证了所设计的控制方法的有效性。 相似文献
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基于数值积分和常微分方程数值解的欧拉法和龙格--库塔法,给出随机连续系统的连续时间最小二乘辨识的两种数值实现方法,仿真结果表明了该方法的有效性。 相似文献
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基于神经网络的非线性扩张状态观测器 总被引:2,自引:2,他引:0
自抗扰控制方法是一种新型的非线性设计方法,在自抗扰控制器中主要存在着确定待定参数的问题;非线性扩张状态观测器是自抗扰控制器的核心,在研究非线性扩张观测器中的参数整定问题时,将神经网络的思想引入参数整定,提出了基于神经网络的非线性扩张状态观测器的设计方法,运用该方法可以对任意阶的非线性扩张状态观测器进行参数设计;大量仿真算例表明,设计出的观测器具有良好的鲁棒性,有一定工程应用参考价值. 相似文献
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For reducing throttling loss in a pilot oil pipe in a hydraulic system based on common pressure rail, this paper proposes a solution that increases efficiency by reducing the relieving pressure. In order to compensate for the resulting control performance degradation, the paper takes a valve controlled swing motor system under low pressure as the research aim. Considering the uncertainty of external disturbance and flow parameters, the mathematical model of the system is established, using an extended state observer to estimate the external disturbances in real time to increase the compensation value and state feedback for the robust backstepping sliding mode controller. Finally, the simulation results confirm the control algorithm proposed is effective for keeping control performance in decreasing pressure conditions. 相似文献
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串联型扩张状态观测器构成的自抗扰控制器 总被引:13,自引:0,他引:13
利用自抗扰控制器控制m阶对象,需要调整扩张状态观测器的m+1个参数。结构和参数相同的m个二阶扩张状态观测器串联而成的串联型扩充状态观测器,具有m+1阶扩张状态观测器的功能。用其构成的自抗扰控制器参数易于调整,便于工程应用。 相似文献
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Continuous-time System Identification with Nuclear Norm Minimization and GPMF-based Subspace Method 下载免费PDF全文
To improve the accuracy and effectiveness of continuous-time (CT) system identification, this paper introduces a novel method that incorporates the nuclear norm minimization (NNM) with the generalized Poisson moment functional (GPMF) based subspace method. The GPMF algorithm provides a simple linear mapping for subspace identification without the timederivatives of the input and output measurements to avoid amplification of measurement noise, and the NNM is a heuristic convex relaxation of the rank minimization. The Hankel matrix with minimized nuclear norm is used to determine the model order and to avoid the over-parameterization in subspace identification method (SIM). Furthermore, the algorithm to solve the NNM problem in CT case is also deduced with alternating direction methods of multipliers (ADMM). Lastly, two numerical examples are presented to evaluate the performance of the proposed method and to show the advantages of the proposed method over the existing methods. 相似文献
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The paper addresses the problem of transforming discrete‐time multi‐input multi‐output nonlinear state equations into the extended observer form, which, besides the inputs and outputs, also depends on a finite number of their past values. Necessary and sufficient conditions for the existence of the extended coordinate transformation are formulated in terms of differential one‐forms, associated with the input‐output equations, corresponding to the state equations. The difference between the single‐input single‐output and multi‐input multi‐output cases is described. The applicability of the conditions is illustrated by an example. 相似文献