自适应Terminal滑模控制及其在UASV再入中的应用

针对传统模糊干扰观测器在观测误差较小时学习速度缓慢的缺点,提出一种新型快速模糊干扰观测器;然后设计了基于快速模糊干扰观测器的自适应Terminal滑模控制方案,严格证明了跟踪误差和观测误差均在有限时间内收敛到非常小的区域;最后,仿真结果表明了所设计干扰观测器的优越性和闭环控制方案的有效性．     

基于观测器的输出反馈电子节气门控制器设计

针对电子节气门系统的状态变量不完全可测量, 设计了一个基于观测器的输出反馈电子节气门控制系统. 该系统由一个估计不可测量状态的降阶观测器和一个非线性状态反馈控制器组成. 同时在控制器中引入了跟踪误差的积分项以抑制跟踪静差. 将建模误差和观测器误差等不确定性看作外部扰动, 在输入到状态稳定性(Input to state stability, ISS)理论框架下分析了跟踪误差系统的鲁棒性, 并据此给出了选择控制器参数的指导性原则.仿真及实验结果表明, 基于观测器的输出反馈控制器能够很好地实现电子节气门的跟踪控制.     

Fal函数的改进及3种新型非线性扩张状态观测器

首先分析现有fal函数和传统非线性扩张状态观测器中存在的6类问题,提出一种固定时间收敛的fal函数,其收敛速度快于传统fal函数,且收敛时间上界与初始误差无关;然后,分别设计基于新型fal函数的非线性扩张状态观测器、指数收敛非线性扩张状态观测器和全新结构的固定时间收敛非线性扩张状态观测器;最后,通过仿真验证这3种新型的非线性扩张状态观测器的估计总误差相对于传统非线性扩张状态观测器分别减少15.4%、16.9%和93.8%,对应的被控状态总误差分别减少13.6%、30.4%和78.3%.     

鲁棒Luenberger观测器设计

观测器控制系统中的观测器条件是系统的状态观测值渐近收敛于系统真实状态的根本 条件.本文首先提出了Luenberger观测器设计的一种参数方法,然后根据使观测器条件误差 为最小的准则,考虑了具有参数摄动的系统的鲁棒Luenberget观测器设计问题,给出了简单、 有效的算法.仿真结果说明了本文方法的有效性.     

纯方位目标定位观测器轨迹的 快速优化算法

在移动传感器网络中,观测器与目标的相对位置对目标的定位性能有重要的影响.为了提高目标的定位精度,提出了一种观测器运动轨迹的优化算法.算法把目标均方位置误差作为优化对象,使用扩展卡尔曼滤波器估计目标的位置.算法以目标和观测器的方位分布关系为基础,减小了观测器最优位置的搜索范围.仿真结果表明,使用多个观测器进行目标定位,滤波收敛速度快,定位误差小.最后给出了单个和多个观测器的"最优"运动规则.     

非参数不确定性非线性系统的自适应观测器设计

本文考虑一类不确定非线性系统的自适应观测器设计问题.系统的不确定性不能参数化,这类非线性系统的观测器无法用传统方法设计.首先用神经网络对系统的不确定性进行逼近,然后利用神经网络的基函数向量对系统进行滤波变换,再由此构造自适应观测器.给出了观测误差估计.本文结果表明适当选定神经网络的逼近精度和调整观测器的设计参数可使观测误差任意地小.     

非线性系统变结构观测器

本文研究了非线性系统的变结构观测器，分别讨论了干扰满足及不满足匹配条件下观测器的鲁棒性，证明了观测器的构造误差是一致最终有界的。     

基于有限时间输出反馈的线性扩张状态观测器

为快速、准确地观测系统中的未知扰动及状态, 提出一种有限时间线性扩张状态观测器(Finite-time linear extended state observer, FT-LESO), 它具有期望的收敛性能且结构简单、易于设计. 假设系统的状态无法量测, 观测器设计问题转化为扰动下的输出反馈控制问题. 针对该问题, 提出一种扰动下的有限时间线性输出反馈控制方法, 得到控制器参数与闭环系统状态向量2-范数间的解析关系. 在此基础上, 提出有限时间线性扩张状态观测器, 得到观测器参数与观测误差收敛速度及稳态观测误差间的解析关系, 给出一充分条件保证观测误差有限时间有界、且能以不低于指数收敛的速度收敛到给定范围内, 为观测器参数设计提供理论依据. 通过数值仿真验证提出的观测器, 仿真结果与理论分析相符, 提出的观测器是有效的.     

基于参考模型的扰动观测器控制系统

为了补偿控制系统的未知动态和外部扰动,论文提出一种基于参考模型的扰动观测器控制系统.首先,分析了二阶理想参考模型控制系统的设计,并通过闭环传递函数证明了参考模型控制系统的稳定性.然后,设计了二阶系统扰动观测器和基于参考模型的扰动观测器控制律,分析了二阶闭环控制误差系统收敛性.并推广到n阶控制系统,证明了n阶闭环控制误差...     

基于延迟观测器的采煤机自动调高策略研究

针对采煤机调高系统中信号存在的输出延迟问题,对系统控制精度造成的影响,提出基于输出延迟观测器的滑模控制策略.通过分析采煤机自动调高系统的工作原理,建立采煤机滚筒高度和调高油缸数学模型,得到了采煤机滚筒高度和系统空间状态方程,设计了输出延迟观测器,分析了不同延迟时间内的观测误差,采用滑模控制器实现了采煤机滚筒高度的自动调节.仿真结果表明,将延迟观测器与滑模控制相结合,不仅解决了信号输出存在的延迟问题,而且相对于无延迟观测器的控制系统,跟踪误差小、控制效果理想.     

Design of reduced-order observers for nonlinear sampled-data strict-feedback systems with actuator dynamics and disturbances

We design reduced-order observers for nonlinear sampled-data strict-feedback systems with actuator dynamics and disturbances. First, we use the property of the Euler model of sampled-data systems and the structure of discrete-time observers to design reduced-order observers of the Euler model. Then, we show that the designed observers are semiglobal and practical in T for the exact model. We also give both numerical and practical examples to illustrate the proposed design of reduced-order observers.     

设计最低阶多线性函数观测器的新方法

本文讨论为连续线性时不变多输入多输出系统设计多线性函数观测器的时域方法.用此 法设计的观测器具有最低动态阶数,且极点可以任意配置.本文提供的算法不仅可用于设计 多输出系统的最低阶多线性函数观测器,而且也可用于设计多输出系统的降阶状态观测器.     

线性奇异时滞系统的观测器设计

Two kinds of observers for linear singular time-delay systems, namely functional observers and full-order observers, are considered in this paper. For the former, observers with and without internal delay are considered. For the latter, observers without internal delay is given. The corresponding design steps for various observers, which are all normal linear time-delay systems, are presented. Numerical examples are given to illustrate the methods.     

Ocular measures of redundancy gain during visual search of colour symbolic displays

Sixteen observers participated in a visual search experiment in which colour coding, search type, and the amount of pre-search information available to the observers were varied. Observers searched simulated symbolic tactical displays to find the number of target symbols (i.e. exhaustive search) or the quadrant of the display in which a single target symbol was located (i.e. self-terminating search). Displays varied in the way in which the symbology was colour coded: colour was either relevant (i.e. redundant with symbol shape) or irrelevant (orthogonal to symbol shape), or the display was monochrome. Half of the observers were cued with regard to the coding scheme prior to display onset, while the other observers were not. There was no overall difference in search time or accuracy, number of eye fixations, or pupillary response between cued and non-cued observers, but only because cued and non-cued observers used the coding schemes differently. Redundancy gain was only evident for cued observers, who searched colour relevant displays faster and with fewer fixations than colour irrelevant or monochrome displays. Non-cued observers' search pattern did not differ across colour coding schemes, but they searched colour irrelevant and monochrome displays faster than the cued observers. Differences between cued and non-cued observers' search strategy are discussed with regard to their implications for design and evaluation of colour multipurpose displays.     

Closed loop observers bundle for uncertain biotechnological models

We propose nonlinear observers for a class of biotechnological processes. These observers are an extension of the open loop asymptotic observers (observers with unknown inputs) devoted to biotechnological systems for which some parts of the model are unknown. We take benefit of the additional outputs which are (nonlinear) functions of the state to design a closed loop observer. The global convergence of these nonlinear observers is proven. We use these observers to design interval based observers which predict guaranteed intervals in which the state is lying. We run simultaneously a broad set of interval observers and we select the best ones. The method is illustrated with a model describing the bioconversion of a substrate using micro-organisms in a bioreactor.     

Observer Design for Linear Singular Time-delay Systems

Two kinds of observers for linear singular time-delay systems,namely functional ob- servers and full-order observers,are considered in this paper.For the former,observers with and without internal delay are considered.For the latter,observers without internal delay is given.The corresponding design steps for various observers,which are all normal linear time-delay systems,are presented.Numerical examples are given to illustrate the methods.     

Partial state and unknown input estimation for time-delay systems

This article considers the problem of estimating a partial set of the state vector and/or unknown input vector of linear systems driven by unknown inputs and time-varying delay in the state variables. Three types of reduced-order observers, namely, observers with delays, observers without internal delays and delay-free observers are proposed in this article. Existence conditions and design procedures are presented for the determination of parameters for each case of observers. Numerical examples are presented to illustrate the design procedures.     

线性系统的干扰解耦观测器设计

此文提出线性系统的Luenberger函数观测器关于干扰解耦的条件,指出它与环路复现 (LTR)的关系.并结合Luenberger观测器设计的一种参数化方法,给出了线性系统干扰解 耦Luenberger观测器的一种简单、有效的设计方法.     

Adaptive observers for nonlinearly parameterized class of nonlinear systems

In this paper, one proposes adaptive observers for a class of uniformly observable MIMO nonlinear systems with general nonlinear parameterizations. The state and the unknown parameters of the considered systems are supposed to lie in bounded domains which size can be arbitrarily large and the exponential convergence of the observers is shown to result under a well-defined persistent excitation condition. Moreover, the gain of the observers involves a design function that has to satisfy a simple condition which is given. Different expressions of such a function are proposed and it is shown that adaptive high gain like observers and adaptive sliding mode like observers can be derived by considering particular expressions of the design function. The theory is supported by simulation results related to the estimation of the biomass concentration and the Contois model parameters in a bioreactor.     

Modal consensus observers for distributed parameter systems

This article proposes a new type of a consensus protocol for the synchronization of distributed observers in systems governed by parabolic partial differential equations. Addressing the goal of sharing useful information among distributed observers, it delves into the details governing the modal decompositions of distributed parameter systems. Assuming that two different groups of sensors are available to provide process information to the two distributed observers, the proposed modal consensus design ensures that only useful information is transmitted to the requisite modal components of each of the observers. Without any consensus protocol, the observers capture different frequency content of the spatial process in differing degrees, as it relates to the concept of modal observability. Their modal components exhibit different learning behavior toward the process state. In the extreme case, it turns out that certain modal components of the distributed observers occasionally behave as naïve observers. To ensure that, both collectively and modal componentwise, the observers agree both with the process state and with each other, a modal component consensus protocol is proposed. Such a consensus protocol is mono-directional and provides only useful information necessary to the appropriate modal component of the distributed filters that behaves as a naïve modal observer. This protocol, when abstracted and applied to different state decompositions can be viewed as mono-directional projections of information transmitted and received by the participating distributed observers. Detailed numerical studies of advection PDE in one and two spatial dimensions are included to elucidate the details of the proposed modal consensus observers.