Robust H∞ Filter Design of a Class of Nonlinear Systems with State Delay and Parameter Uncertainty
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摘要: 研究含有状态时滞的非线性不确定性系统的鲁棒H∞滤波器设计问题,其中系统的参 数不确定性是时变和模有界的,非线性的扰动受有界条件约束.针对连续系统和离散系统两种 情况，分别选取合适的Lyapunov函数分析了使滤波系统渐近稳定,且从噪声输入到误差输出的 传递函数的H∞范数小于指定上界的充分条件,然后通过两个代数Riccati方程的正定解参数化 表示了该滤波器.滤波器的设计过程和结构均是与状态时滞的大小、非线性扰动以及不确定性 参数无关的.Abstract: The problem of robust H∞ filtering for nonlinear systems with state delay and parameter uncertainty is investigated in this paper. The parameter uncertainties are described in the real time-varying norm-bounded form with nonlinear disturbances meeting the boundedness condition. For continuous and discrete-time cases, appropriate Lyapunov functions are used to analyze the sufficient condition of the existence of the robust filter such that the filtering process remains robustly stable and a prescribed H∞ performance level is achieved. Then the filter is characterized in the terms of positive solutions of two algebraic Riccati-like equations, irrespective of the uncertainties, time delays or nonlinearities.
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Key words:
- Nonlinear systems /
- parametric uncertainty /
- time delay /
- Riccati equation
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