共查询到20条相似文献,搜索用时 125 毫秒
1.
对一类含有未知输入的仿射非线性系统,讨论了一种能同时估计系统状态和末知输入的未知输入观测器设计方法.首先利用李导数对仿射非线性系统进行线性化,将其转化为可控标准型.其次,针对变化后的等价系统,提出了一种高阶、高增益滑模观测器,由此不仅能得到系统状态的估计,同时还得到状态微分的估计.再次,基于状态及其微分的估计,对未知输入提出了一种重构方法.该方法能对强时变未知输入重构,而且重构中没有用到系统微分的信息.最后,通过对两个实际模型的仿真,表明了方法的可行性. 相似文献
2.
为了估计系统的状态并补偿输出时滞,本文提出一种新颖的观测器设计方法应用在常微分方程(ODE)-热方程级联系统中.不同于传统观测器的设计方法,该方法的核心思想是将大时滞划分为若干段小时滞,再设计一串级联的子观测器逐步地估计系统的状态.这种方法的优势在于对于大时滞仍有效.本文通过backstepping-like方法实现了原系统与目标系统的等价变换,结合Lyapunov-Krasovskii方法和线性矩阵不等式理论,得到了误差系统指数稳定的结果.最后,通过仿真实例验证了级联观测器的有效性. 相似文献
3.
4.
5.
6.
7.
针对一类迭代学习控制(ILC)系统的不确定项,根据时域中扩张状态观测器的思想,提出迭代域中线性迭代扩张状态观测器(LIESO),该线性迭代扩张状态观测器可以利用迭代过程的跟踪误差给出迭代学习控制系统的不确定项的显式估计。给出了基于该估计的迭代学习控制算法,并应用类Lyapunov方法证明其收敛性。仿真结果表明,所提出的迭代学习控制算法是有效的,应用迭代扩张状态观测器可以大幅度提高迭代学习效率。 相似文献
8.
针对动力定位船舶非线性模型以及多源干扰导致的定位不精确问题,考虑不同干扰的特点及其在非线性模型中的响应特性提出一种基于无源精细化扩张状态观测器的鲁棒自适应抗扰控制方法.首先,建立动力定位船舶数学模型和多源干扰模型,并根据系统模型设计无源精细化扩张状态观测器实时估计船舶状态及其所受的多源干扰;然后,在此基础上引入动态面控制技术,在控制律中设计鲁棒自适应项以补偿估计误差;最后,证明该闭环级联系统所有误差信号一致最终有界.对一艘动力定位船舶进行仿真实验,实验结果表明,该方法在干扰估计和状态估计方面均优于传统扩张状态观测器,验证了该控制方法的有效性. 相似文献
9.
滑模控制一类非线性分布式时滞系统 总被引:1,自引:0,他引:1
针对一类状态不可测的非线性不确定分布式时滞系统, 给出了系统滑动模态鲁棒渐近稳定的充分条件. 设计了一类滑模观测器, 同时采用线性矩阵不等式的处理方法给出了该观测器存在的充分条件. 再应用滑模控制的趋近率方法和基于观测器所得到的估计状态, 综合了一类滑模控制器. 该控制器同时保证了估计状态下的滑模面和估计误差状态下的滑模面的渐近可达性. 相似文献
10.
11.
以压电悬臂板为分析对象,通过对系统输入一输出数据作变换处理,隐式地设计最小拍状态观测器,基于状态观测器的Markov参数计算系统Markov参数,亦即系统脉冲响应采样值,然后采用特征系统实现算法辨识得到系统最小实现,所建立的智能结构的状态空间模型能控、能观,为控制器设计提供了一个较为精确的数学模型. 相似文献
12.
In this paper the nilpotency properties of deadbeat linear multivariable discrete-time disturbance-rejection systems incorporating full-order or reduced-order observers for plants with accessible or inaccessible statea are investigated. The theory is illustrated by the presentation of the results of computer simulation studies which indicate that the presence of an observer affects only the transient behaviour of deadbeat discrete-time disturbance-rejection systems and that the use of a reduced-order observer results in markedly superior transient behaviour than the use of a full-order observer. 相似文献
13.
14.
本文介绍了带数字状态观测器的无差拍控制单相UPS的设计,并在Matlab6.5下进行了仿真,验证了带状态观测器的无差拍控制技术能有效地改善系统的动态特性。 相似文献
15.
This paper considers the problem of designing an observer insensitive to system parameter variations in discrete time linear multivariable systems. A K-insensitive observer is defined as an observer that can reconstruct a linear function of the state vector in spite of the variations of system parameters, provided the initial state of the observer is suitably chosen. A deadbeat observer is defined to be an observer that reconstructs the linear function for an arbitrary initial condition of the observer. Then, the existence of the K-insensitive observer is examined, and the class of K-insensitive observers is characterized. A necessary and sufficient condition is derived under which the K-insensitive deadbeat observer can be designed, and a simple algorithm is proposed to design the observer. The resulting observer is shown to be stable. The order of the observer is evaluated. The condition for generic solvability of the problem is also given. 相似文献
16.
研究一类带多控制器和多传感器离散时间线性系统的无差拍控制.对能控系统,通过适当的状态坐标变换获得系统矩阵的块三角结构,再设计状态反馈和周期切换策略使得状态反馈矩阵在有限周期内为零,从而保证闭环系统的无差拍稳定.进一步,对能观系统,设计具有有限时间精确估计的动态输出反馈,通过适当的周期切换策略实现闭环系统的无差拍稳定.最后,给出一个例子以验证所提设计方法的有效性. 相似文献
17.
This paper describes a new construction of the deadbeat observer for the state estimation of linear time-varying multivariable systems. The proposed design methods are computationally attractive because of their simplicity and recursive nature, and are recommendable even for time-invariant multivariable systems. 相似文献
18.
In Section IV of the above paper a method is developed for obtaining one explicit minimal-order optimal observer-estimator for the case in which some measurements are noisy while others are noise free. In this correspondence a more analytic and simpler method than the above one is presented. It is also shown that the simplest deadbeat observer given in Section V of the above paper can be refined. 相似文献
19.
《Automatic Control, IEEE Transactions on》2008,53(6):1492-1498
20.
Necessary and sufficient multi-input/multioutput conditions for local controllability and causal reconstructibility of 2-D systems are presented, which are based on 2-D matrix polynomial equations. The conditions are computationally attractive; only unimodular operations in a Euclidean ring are required. In addition, when testing controllability and/or reconstructibility, one obtains a deadbeat regulator and/or an exact observer as by products 相似文献