高阶系统方法—Ⅲ.能观性与观测器设计

段广仁

doi:10.16383/j.aas.c200370

高阶系统方法—Ⅲ.能观性与观测器设计

doi: 10.16383/j.aas.c200370

段广仁^1,

1.
哈尔滨工业大学控制理论与制导技术研究中心哈尔滨 150001

基金项目:

国家自然科学基金重大项目 61690210

国家自然科学基金重大项目 61690212

国家自然科学基金 61333003

机器人与系统国家重点实验室自主计划任务(HIT) SKLRS201716A

详细信息

作者简介:
段广仁中国科学院院士, 国家杰出青年基金获得者, 长江学者特聘教授, CAA Fellow, IEEE Fellow, IET Fellow. 1989年获哈尔滨工业大学博士学位, 1991年起任哈尔滨工业大学教授, 现为哈尔滨工业大学控制理论与制导技术研究中心主任.主要研究方向为控制系统的参数化设计, 鲁棒控制, 广义系统, 航天器制导与控制.E-mail: g.r.duan@hit.edu.cn

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出版历程
- 收稿日期: 2020-06-15
- 录用日期: 2020-07-15
- 刊出日期: 2020-09-28

High-order System Approaches: Ⅲ. Observability and Observer Design

DUAN Guang-Ren^1
,

1.
Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001

Funds:

the Major Program of National Natural Science Foundation of China 61690210

the Major Program of National Natural Science Foundation of China 61690212

National Natural Science Foundation of China 61333003

the Self-Planned Task of State Key Laboratory of Robotics and System (HIT) SKLRS201716A

More Information

Author Bio:
DUAN Guang-Ren Academician of the Chinese Academy of Sciences, winner of the National Science Fund for Distinguished Young Scholars, Distinguished Professor of Chang Jiang Scholars Program, CAA Fellow, IEEE Fellow and IET Fellow. He received his Ph. D. degree from Harbin Institute of Technology in 1989, and has been professor at Harbin Institute of Technology since 1991. He is currently the director of the Center for Control Theory and Guidance Technology, Harbin Institute of Technology. His research interest covers parametric design of control systems, robust control, descriptor systems, spacecraft guidance and control

摘要

摘要: 平行于第Ⅰ部分中提出的非线性系统的全驱性概念, 本文提出了非线性系统的全量测性概念.首先给出了非线性系统的一种能观规范型, 并证明了任何与该类非线性系统能观规范型等价的系统, 以及任何能观的线性系统, 都等价于一个高阶全量测系统.然后据此提出了一般动态系统的完全能观性定义, 同时指出线性系统的完全能观性等同于其通常意义下的能观性.最后提出了非线性全量测系统观测器设计的一种简洁方法.基于这种设计, 可以使观测误差系统为线性定常系统, 并且可以任意配置其特征多项式的系数矩阵.
- 能观性 /
- 完全能观性 /
- 高阶系统 /
- 全量测系统 /
- 能观规范型
Abstract: Parallel to the concept of fully-actuated systems proposed in Part Ⅰ, this paper defines for nonlinear systems the concept of fully-measured systems. Firstly, it is proposed for nonlinear systems an observability canonical form, and proven that an observable linear system, or a nonlinear system in the defined observability canonical form, is equivalent to a high-order fully-measured system. Based on such a fact, complete observability of a dynamical system with an arbitrary order is then defined. As a result, the complete observability of a linear constant system is simply consistent with the observability of the system in the conventional sense. Finally, a very simple approach for observer design of nonlinear fully-measured systems is proposed, with which the observation error system is turned into a linear constant one, with the coefficient matrices of its eigen-polynomial arbitrarily assignable.
- Observability /
- complete observability /
- high-order systems /
- fully-measured systems /
- observability canonical forms
Recommended by Associate Editor HE Wei
注释:

1) 本文责任编委贺威

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