不确定遥操作系统带干扰观测器的自适应控制

遥操作系统受到不同类型的不确定性因素影响, 这些不确定性会降低系统的透明性, 甚至会使得系统不稳定. 本文提出了一种带干扰观测器的自适应控制器(adaptive controller with disturbance observer, ACWDO) 用来处理遥操作系统中同时受到的外部干扰和内部动力学参数不确定性. 首先建立了受外部干扰的遥操作系统的非线性动力学模型; 然后分别对主机器人和从机器人设计非线性干扰观测器用来对外部干扰进行估计和补偿; 之后在干扰观测器基础之上分别对主机器人和从机器人设计自适应控制器用来处理内部不确定的动力学参数; 最后再将所设计的ACWDO融入到四通道遥操作系统结构中. 理论分析和仿真结果表明, 所设计的控制器可以取得良好的位置跟踪和力跟踪效果, 确保了遥操作系统的透明性.     

一类不确定对象的扩张状态观测器

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。     

基于观测器的不确定时滞系统的鲁棒控制

研究不确定线性时滞系统的状态观测器和基于观测器的鲁棒控制器设计问题,其中不确定性是时变的、不要求满足匹配条件。通过构造增广系统,利用Ｌｙａｐｕｎｏｖ稳定性理论,获得了该不确定系统存在状态观测器和基于观测器的鲁棒控制器的充分条件,同时给出了相应的状态观测器和基于观测器的鲁棒控制器。所得结论推广并改进了已知的一些结果,并通过实例说明了其有效性。     

不确定系统的不确定项观测器设计

为了克服常规用不确定项的界估计来设计控制器带来的保守性和动态性能差的弊端,本文就连续的和离散的不确定系统,分别提出了不确定项的观测器设计方案.通过引入分布和离散加权平均的概念,对这两种观测器的观测误差精度进行了分析估算,从数学上证明了所得的观测值在加权平均意义下是无偏的.此外,通过适当选择观测器反馈增益,可以得到满意的误差估计精度.把该方法应用到一个控制系统中,仿真结果表明所提出的观测器能很好的估计不确定项和改进闭环系统动态性能.     

基于状态观测器的线性不确定时滞系统的保代价控制

研究一类线性不确定时滞系统，基于状态观测器给出了系统保代价控制的无记忆状态反馈控制器，并给出了保代价控制器存在的充分条件，在某些条件满足的条件下，基于LMI给出了系统保代价控制器。     

一类线性不确定组合系统的鲁棒控制器和观测器设计*

本文研究了一类带有结构不确定性的线性组合系统的鲁控制器和观测器设计问题，文中给出一种设计分散控制器和分散观测器的方法，其中状态反馈增益 观测器增益阵由两个黎卡提议方程的解给出。     

不确定动态时滞系统的基于观测器的鲁棒镇定设计

本文研究不确定动时滞系统的基于观测器的鲁棒镇定问题。利用Ｌｙａｐｕｎｏｖ稳定性理论，导出了通过求解两个Ｒｉｃｃａｔｉ方程的状态观测器和线性鲁棒控制器的设计方法。     

基于扩张观测器的非线性不确定系统输出跟踪

针对一类非线性不确定系统，设计出一种高增益扩张观测器，该观测器具有抗干扰性，可用于观测信号的n阶导数．在此基础上设计了一种控制器，使得跟踪误差及其各阶导数在不确定及扰动存在的情况下仍能迅速收敛．仿真结果表明，这种控制方法对于非线性不确定系统具有良好的控制效果．     

不确定线性控制系统的实用稳定性

本文利用Ｌｙａｐｕｎｏｖ函数和Ｒｉｃｃａｔｉ矩阵方程研究不确定线性控制系统的实用稳定性，文中首先建立了一个比较原理，然后对不确定性线控制系统的实用稳定性得到了一个判据，文中定义了一类更广泛的容许集，文中给出了一个例子以说明本文主要的应用方法。     

不确定时滞系统基于观测器的鲁棒控制器设计

研究了不确定线性时滞系统的状态观测器和基于观测器的鲁棒控制器设计问题，其中不确定性是时变的，通过构造增广系统，利用线性矩阵不等式方法，获得了该不确定系统存在状态观测器和基于观测器的鲁棒控制器的充分条件，同时给出了相应的状态观测器和基于观测器的鲁棒控制器，所给示例说明了本文方法的设计步骤和有效性。     

Feedback Linearization Control for Systems with Mismatched Uncertainties via Disturbance Observers

This paper focuses on a novel feedback linearization control (FLC) law based on a self‐learning disturbance observer (SLDO) to counteract mismatched uncertainties. The FLC based on BNDO (FLC‐BNDO) demonstrates robust control performance only against mismatched time‐invariant uncertainties while the FLC based on SLDO (FLC‐SLDO) demonstrates robust control performance against mismatched time‐invariant and ‐varying uncertainties, and both of them maintain the nominal control performance in the absence of mismatched uncertainties. In the estimation scheme for the SLDO, the BNDO is used to provide a conventional estimation law, which is used as the learning error for the type‐2 neuro‐fuzzy system (T2NFS), and T2NFS learns mismatched uncertainties. Thus, the T2NFS takes the overall control of the estimation signal entirely in a very short time and gives unbiased estimation results for the disturbance. A novel learning algorithm established on sliding mode control theory is derived for an interval type‐2 fuzzy logic system. The stability of the overall system is proven for a second‐order nonlinear system with mismatched uncertainties. The simulation results show that the FLC‐SLDO demonstrates better control performance than the traditional FLC, FLC with an integral action (FLC‐I), and FLC‐BNDO.     

带扰动观测器的模糊自整定调节系统研究

针对双容液面调节系统的非线性、参数时变的特点,基于现代控制理论设计了带扰动观测器的模糊自整定控制器。该方案既实现了PID控制器参数的在线自整定,又增强了系统的抗扰能力。仿真试验表明,该方案极大地提高了被控对象的静态和动态性能,对参数时变的适应能力强、鲁棒性好。     

线性多变量系统的鲁棒耗散控制

Robust quadratic dissipative control for a class of linear multi-variable systems with parameter uncertainties is considered, where the uncertainties are expressed in a linear fractional form. For the nominal system without uncertainties, the equivalence between quadratic dissipativeness and positive realness is established, and conditions are derived for linear systems to be quadratic dissipative. As for uncertain systems, it is shown that the robust quadratic dissipative control problem for the uncertain system can be reduced to the corresponding problem for a related system without uncertainties. The control problem concerned can be solved using LMI approach. The results of the paper unify existing results on H1 control and positive real control and provide a more flexible and less conservative control design method.     

Robust Dissipative Control for Linear Multi-variable Systems

Robust quadratic dissipative control for a class of linear multi-variable systems with pa- rameter uncertainties is considered,where the uncertainties are expressed in a linear fractional form. For the nominal system without uncertainties,the equivalence between quadratic dissipativeness and positive realness is established,and conditions are derived for linear systems to be quadratic dissi- pative.As for uncertain systems,it is shown that the robust quadratic dissipative control problem for the uncertain system can be reduced to the corresponding problem for a related system without uncertainties.The control problem concerned can be solved using LMI approach.The results of the paper unify existing results on H_∞control and positive real control and provide a more flexible and less conservative control design method.     

基于状态观测器的一类非线性系统的模糊鲁棒控制

利用T－S模型对一类非线性不确定系统进行模糊建模,在此基础上研究模糊鲁棒观测器及模糊状态鲁棒控制器的设计,并证明所设计的模糊鲁棒观测器和模糊状态鲁棒控制器具有全局渐近稳定性质。     

Disturbance Observer Based Control for Four Wheel Steering Vehicles With Model Reference

This paper presents a disturbance observer based control strategy for four wheel steering systems in order to improve vehicle handling stability. By combination of feedforward control and feedback control, the front and rear wheel steering angles are controlled simultaneously to follow both the desired sideslip angle and the yaw rate of the reference vehicle model. A nonlinear three degree-of-freedom four wheel steering vehicle model containing lateral, yaw and roll motions is built up, which also takes the dynamic effects of crosswind into consideration. The disturbance observer based control method is provided to cope with ignored nonlinear dynamics and to handle exogenous disturbances. Finally, a simulation experiment is carried out, which shows that the proposed four wheel steering vehicle can guarantee handling stability and present strong robustness against external disturbances.      

有向图中基于扰动观测器的线性多智能体系统一致性

在有向图中,针对多智能体系统中智能体动力学存在扰动的情形,研究了系统的一致性问题.每个智能体的动力学模型为存在未知外部扰动的一般线性系统.在有向图是强连通的条件下,通过设计一种基于扰动观测器的分布式算法,实现了存在未知扰动的线性多智能体系统的一致性.最后通过仿真验证所提算法的有效性.     

Quadratic Stabilizability for Polytopic Uncertain Switched Linear Systems via Switched Observer

In this paper, we study a quadratic stabilizability problem via switched observer for uncertain continuous‐time switched linear systems in the sense that the subsystem's matrices are represented as a polytopic linear combination of vertex matrices. Firstly, sufficient conditions for polytopic uncertain continuous‐time switched linear systems to be quadratically stabilizable via state feedback are summarized. Next, sufficient conditions for polytopic uncertain switched linear systems to be quadratically stabilizable via switched observer are given under the assumption that output matrices of subsystems have no uncertainties. Further, a numerical example is also investigated.     

基于干扰观测器的终端滑模控制研究

针对一类非线性不确定系统,提出一种带干扰观测器的终端滑模控制TSMC方案.在不考虑外部干扰的影响下,设计了终端滑模控制,保证系统状态在有限时间内收敛到零;当存在干扰时,构造了非线性干扰观测器系统,以在线逼近未知外部干扰,消除其影响.考虑输人通道的不确定性,采用自适应方法在线逼近不确定的上界,并采用Lyapunov方法严格证明了自适应闭环系统的稳定性.对一级倒立摆系统进行仿真,仿真结果表明了所设计控制方案的有效性.