一类不确定系统观测器设计.docVIP

一类不确定系统观测器设计 摘 要 本文提出了一种关于非线性状态观测器的结构形式，主要针对于含有建模误差的非线性系统。为此着重利用非线性变换，将含有建模误差的非线性系统转换为仅依赖其原系统输入、输出的规范形式。再利用可测数据进行观测器的构造。由此基础之上，着重利用Lyapunov稳定性的相关理论和微分同胚的相关性质，针对非线性动态误差方程的稳定性进行分析。在理论上证明，若建模误差不为零，则估计状态与实际状态只差最终游街且一致，若建模误差不为零，则估计状态定收敛到它的真实状态。结果证明了该方法的正确性。 本文首先介绍了观测器的相关知识，接着介绍了本文的研究背景与主要的研究意义。文章一共分为四章，第一章给出了研究的背景；第二章是介绍观测器的相关知识，并提出了线性与非线性系统之间的联系与且别以及相关的名词解释；第三章提出了一类利用Lyapunov稳定性理论以及微分同胚性质设计方法设计；第四章则是对第三章所给出的方法进行仿真模拟来进行验证；在文章的最后给出了一类非线性系统状态观测器的方法；最后给出了结论和展望。 Abstract This paper presents a state observer for a class of nonlinear systems with modeling uncertain.Firstly,the nonlinear systems is analyzed and diffeomorphically transformed into a canonical system,thus,using measurable output to design the state observer.Based on Lyapunov stability theory and properties of disffeomorphism,the stability of dynamical error equation is proved and two conclusions are given:when modeling uncertain is bounded,the error between the estimated states and the system states is ultimately and uniformely bounded.Simulation examples illustrate the effectiveness of the approach. This paper introduces the related knowledges about observer, then introduced the research background and the main research significance. This paper are divided into a total of four chapters, the first chapter gives a background to the study; The second chapter introduces observer knowledges and made between linear and nonlinear systems and other contact and related terminology; The third chapters presents a class of Lyapunov stability theory and diffeomorphism nature design methods; The fourth chapter of the method is given in the third chapter conducted simulations to verify. Finally the paper gives an approach for a class state observer for nonlinear systems ,conclusions and outlook. Key words:Observer; Nonlinear system;Lyapunov stability;Diffeomorphism. 目录 引言............................................................................................................................................