匹配条件不满足时线性系统未知输入观测器设计-控制理论与应用.PDF

第34 卷第4 期 控制 理 论 与 应 用 Vol. 34 No. 4 2017 年4 月 Control Theory Applications Apr. 2017 DOI: 10.7641/CTA.2017.60662 匹匹匹配配配条条条件件件不不不满满满足足足时时时线线线性性性系系系统统统未未未知知知输输输入入入观观观测测测器器器设设设计计计 张建成, 朱芳来 ( 同济大学电子与信息工程学院, 上海201804) 摘要: 针对一类不满足观测器匹配条件的线性系统, 讨论了未知输入观测器设计方法. 首先, 为了突破观测器匹 配条件的限制, 提出了一种与未知输入相对阶无关的辅助输出构造方法. 然后, 把未知输入看作系统状态的一部分, 将原系统转化为一个不含未知输入的增维线性描述系统.针对这样的系统转化, 对一系列等价前提条件进行了详细 的讨论. 之后, 针对该增维线性描述系统, 构造Luenberger观测器来估计原系统的状态和未知输入. 同时, 借助于高 阶滑模微分器, 来估计辅助输出中的未知信号. 最后, 对一个单连杆柔性机械手模型进行了数值仿真, 仿真结果表明 了方法的有效性. 关键词: 未知输入观测器; 观测器匹配条件; 辅助输出; 未知输入重构 中图分类号: TP273 文献标识码: A Linear system unknown input observer design when the observer matching condition is not satisfied ZHANG Jian-cheng, ZHU Fang-lai (College of Electronics and Information Engineering, Tongji University, Shanghai 201804, China) Abstract: This paper discusses unknown input observer design method for a class of linear systems with unknown inputs when the observer matching condition (OMC) is not satisfied. Firstly, in order to break through the restriction of the OMC, a new auxiliary output construction method, which has nothing to do with the concept of relative degree with respect to the unknown input, is proposed. Then, the original system is transformed into an augmented linear descriptor system which contains no unknown inputs. In view of the transformation of the systems, a series of equivalent preconditions are discussed in detail. After this, a Luenberger observer is designed for the augmented linear descriptor system to estimate both the state and the unknown input simultaneously. Beside