一类不确定非线性系统的观测器设计.pdfVIP

37 3 Vol. 37 No . 3 2005 6 Journal of Nanjing University of Aeronautics Astronautics Jun. 2005 刘春生, 胡寿松 ( , , 2 00 6) : 系统状态观测器在故障检测与状态反馈中起着重要作用, 特别是非线性系统状态观测器的构造已 为目 前控制理论界一个重要研究课题。本文针对一类含有建模误差的非线性系统,提出了一种非线性状态观测器的 结构形式, 然后利用非线性变换, 将含有建模误差的非线性系统变换为仅依赖原系统的输入 输、出的规范形式, 从而利用可测数据进行构造观测器。在此基础上, 利用Lyapunov 稳定性理论以及微分同胚的性质, 分析了非线 性动态误差方程的稳定性。理论证明, 在建模误差为零时, 估计状态收敛到其真实状态; 在建模误差不为零时, 估 计状态与实际状态之差一致最终有界。最后进行了详细的仿真研究, 结果表明了该方法的有效性。 : 非线性系统; 状态估计器; 微分同胚 :T P273:A : 005-26 5(2005) 03-0284-04 State Observer Design for a Class of Nonlinear Systems with Modelling Uncertainty - , - L I U Ch un sheng H U Shou song ( , , , 2 00 6, ) College of Automation Engineering Nanjing U niversity of Aeronautics Astronautics Nanjing China Abstract: T he state observer plays an important role in fault detection and states feedback control. Recently, much attention has been focused on the struction of the state observer in nonlinear systems This paper. presents a state observer for a class of nonlinear systems w ith modelling uncertainty Firstly the nonlinear. , system is analyzed and diffeomorphically transformed into a canonical system, thus using measurable output to design the state observer. Based on Lyapunov stability theory and properties of diffeomorphism, the stability of dynamical error equation is proved and tw o conclusions are given w hen modelling uncertainty is: not existed, the estimated states are convegence states of the system; w hen modelling uncertainty is bounded, the error betw een the estimated states and the system sta