摘要
针对非线性扩张状态观测器的一般形式,引入一个增益因子,提出了扩张状态观测器的一种设计方法。运用该方法可以设计出任意阶的非线性扩张状态观测器,所设计的扩张状态观测器具有类龙伯格状态观测器的结构,并且其动态品质只与补偿矩阵的极点位置有关,与非线性函数的形式无关。选取满足条件的不同非线性函数可以得到不同形式的非线性扩张状态观测器。对二阶非线性不确定系统进行了仿真研究,结果表明了该设计方法的有效性。
A new method is proposed to design the Luenberger- Like nonlinear extension state observer（ESO）. The arbitrary orders nonlinear ESO can be designed with this method. The quality of ESO is only related to the pole locations of the compensation matrix and not related to the form of the nonlinear function. A different nonlinear function that satisfies some conditions can be lead to a nonlinear ESO with different forms. Numerical simulation to a two orders nonlinear uncertain system was given, and the results show that the new design method is valid.
基金
浙江省教育厅基金资助项目(20040146)
关键词
非线性系统
扩张状态观测器
极点配置
nonlinear system
extension state observer
pole assignment
