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排序方式: 共有76条查询结果,搜索用时 31 毫秒
1.
Matthew R. James 《国际强度与非线性控制杂志
》1994,4(6):791-806
》1994,4(6):791-806
In this paper we present a numerical method for estimating the current state of a nonlinear control system. We use finite differences to discretize a modified version of the finite-time observer equations in James. The discretized equations are simple and easily programmed. The convergence and accuracy of the scheme is proved, and the scheme enjoys a number of important properties: availability of rate of convergence estimates, good robustness characteristics, and the ability to handle certain types of discontinuities in the observations. The major disadvantage is that the number of grid points required increases exponentially with the number of state dimensions. 相似文献
2.
广义系统一类鲁棒观测器的设计 总被引:3,自引:0,他引:3
本文讨论了用观测器消除广义系统中由于模型误差、非线性因素、参数不确定及输入输
出噪声产生的量测误差的可能性,给出了这类鲁棒观测器的存在条件,得到了相应的算法. 相似文献
3.
含观测器的非线性控制系统的实用稳定性胡刚(广东工学院基础部广州510090)关键词:观测器,实用稳定性,偏差区域,Schwarz不等式1引言文[1]明确地提出了实用稳定性的概念.由于实用稳定性的现实意义,许多学者对它的理论及应用进行了大量的研究工作,... 相似文献
4.
In [4,7,9,12], classes of nonlinear systems are considered for which observers can be designed. Although observability of nonlinear systems is known to be dependent on the input, the proposed observers have the property that the estimation error decays to zero irrespective of the input. In the first part of this paper, it is shown that this phenomenon follows from a common property of these systems: for all of them, the “unobservable states” with respect to some input, are in some sense “stable” (in the linear case, these systems are called detectable), and for this reason, a reduced order observer can be designed. In the second part is given a more general class of nonlinear systems for which such an observer can be designed. 相似文献
5.
This paper presents a decentralized observer with a consensus filter for the state observation of discrete-time linear distributed systems. Each agent in the distributed system has an observer with a model of the plant that utilizes the set of locally available measurements, which may not make the full plant state detectable. This lack of detectability is overcome by utilizing a consensus filter that blends the state estimate of each agent with its neighbors’ estimates. It is proven that the state estimates of the proposed observer exponentially converge to the actual plant states under arbitrarily changing, but connected, communication and pseudo-connected sensing graph topologies. Except these connectivity properties, full knowledge of the sensing and communication graphs is not needed at the design time. As a byproduct, we obtained a result on the location of eigenvalues, i.e., the spectrum, of the Laplacian for a family of graphs with self-loops. 相似文献
6.
This paper concerns the problem of event-driven observer-based output feedback control of linear systems. Contrary to normal sampled-data control systems, where the controller is updated periodically, in event-driven systems, it is updated only when an “event” happens, and a typical event is defined as some error signals exceeding a given threshold. Both continuous- and discrete-time event detector cases are considered. It is shown that even with the significantly reduced sampling frequency, the global uniform ultimate boundedness of the event-driven closed-loop systems can also be guaranteed. A numerical example is finally used to illustrate the effectiveness and advantages of the proposed approaches. 相似文献
7.
In this paper we propose an online stiffness estimation technique for robotic tasks based only on force data, therefore, not requiring contact position information. This allows estimations to be obtained in robotic tasks involving interactions with unstructured and unknown environments where geometrical data is unavailable or unreliable. Our technique – the Candidate Observer Based Algorithm (COBA) – uses two force observers, configured with different candidate stiffnesses, to estimate online the actual target object stiffness. COBA is embedded in a force control architecture with computed torque in the task space. The theoretical presentation of the algorithm, as well as simulation tests and experimental results with a lightweight robot arm are also presented. 相似文献
8.
Karim Ramdani Author Vitae Marius Tucsnak Author Vitae George Weiss Author Vitae 《Automatica》2010,46(10):1616-1625
Let A be the generator of a strongly continuous semigroup T on the Hilbert space X, and let C be a linear operator from D(A) to another Hilbert space Y (possibly unbounded with respect to X, not necessarily admissible). We consider the problem of estimating the initial state z0∈D(A) (with respect to the norm of X) from the output function y(t)=CTtz0, given for all t in a bounded interval [0,τ]. We introduce the concepts of estimatability and backward estimatability for (A,C) (in a more general way than currently available in the literature), we introduce forward and backward observers, and we provide an iterative algorithm for estimating z0 from y. This algorithm generalizes various algorithms proposed recently for specific classes of systems and it is an attractive alternative to methods based on inverting the Gramian. Our results lead also to a very general formulation of Russell’s principle, i.e., estimatability and backward estimatability imply exact observability. This general formulation of the principle does not require T to be invertible. We illustrate our estimation algorithms on systems described by wave and Schrödinger equations, and we provide results from numerical simulations. 相似文献
9.
We propose a method for redesigning adaptive observers for nonlinear systems. The redesign uses an adaptive law that is based on delayed observers. This increases the computational burden, but gives significantly better parameter identification and robustness properties. In particular, given that a special persistency of excitation condition is satisfied, we prove uniform global asymptotic stability and semi-global exponential stability of the origin of the state and parameter estimation error, and give explicit lower bounds on the convergence rate of both the state and parameter estimation error dynamics. For initial conditions with a known upper bound, we prove tunable exponential convergence rate. To illustrate the use of the proposed method, we apply it to estimate the unmeasured flow rate and the uncertain friction parameters in a model of a managed pressure drilling system. The simulation results clearly show the improved performance of the redesigned adaptive observer compared to a traditional design. 相似文献
10.