基于有限时间输出反馈的线性扩张状态观测器

杨明; 董晨; 王松艳; 晁涛

doi:10.16383/j.aas.2015.c140095

基于有限时间输出反馈的线性扩张状态观测器

doi: 10.16383/j.aas.2015.c140095

1.
哈尔滨工业大学控制与仿真中心哈尔滨 150080

基金项目:

国家自然科学基金创新研究群体(61021002);中央高等学校基本科研业务费专项资金(HIT.NSRIF.2015036, HIT.NSRIF.2014036)资助

详细信息

作者简介:
杨明哈尔滨工业大学控制与仿真中心教授.主要研究方向为飞行器制导与控制,复杂系统建模与仿真. E-mail:myang@hit.edu.cn

通讯作者:
晁涛哈尔滨工业大学控制与仿真中心讲师.主要研究方向为滑模变结构控制,飞行器制导、控制与仿真.本文通信作者.E-mail:chaotao2000@163.com

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出版历程
- 收稿日期: 2014-02-17
- 修回日期: 2014-06-20
- 刊出日期: 2015-01-20

Linear Extended State Observer Based on Finite-time Output Feedback

1.
Control and Simulation Center, Harbin Institute of Technology, Harbin 150080

Funds:

Supported by the Innovative Team Program of National Natural Science Foundation of China (61021002) and the Fundamental Research Funds for the Central Universities (HIT.NSRIF.201 5036, HIT.NSRIF.2014036)

摘要

摘要: 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.
- 线性扩张状态观测器 /
- 有限时间 /
- 输出反馈 /
- 有限时间有界 /
- 观测误差
Abstract: To observe unknown disturbance and states in a system rapidly and exactly, a finite-time linear extended state observer (FT-LESO) is proposed. The observer is with desired observation performance, simple structure, and is easy to design. Suppose the states are unmeasurable, the observer design problem is transformed to an output-feedback control problem of a system with disturbance. To solve the control problem, a linear finite-time output-feedback control method is presented. An analytic relationship between the controller's parameter and state vector's 2-norm of the closed-loop system is derived. Based on the control method, an FT-LESO is proposed. An analytic relationship between the FT-LESO's parameter, observation error's convergence speed, and steady observation error is obtained. And a sufficient condition is derived to ensure the observation error is finite-time bounded and can converge to a specified range no slower than exponential convergence. This sufficient condition provides a theoretical basis for designing an FT-LESO. The FT-LESO is demonstrated by a numerical simulation. Simulation results are coincident with theoretical analysis. The proposed FT-LESO is effective.
- Linear extended state observer (LESO) /
- finite-time (FT) /
- output feedback /
- finite-time boundedness /
- observation error

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