考虑量化效应的观测器分析与设计

Analysis and design of observers with quantization effects

为了减弱信号的量化效应引起的数字观测器性能的降低,分析了量化器对状态估计误差的影响,并且提出了一种新的非线性观测器构造方法.使用Lyapunov稳定性判据分析了考虑了量化效应的Luenberger观测器的动态特性,结果表明观测误差无法渐进收敛,并给出了估计误差的上界.提出了一种新的观测器构造方法.对于系统矩阵是Hurwitz稳定的情况,该观测器可以保证状态估计误差可以收敛到零.

In order to attenuate the performance degradation of the digital observer caused by quantization effects, the influence of the quantizer on state estimation error is analyzed and a new method of constructing the non-linear observer is proposed. The dynamic characteristics of Luenberger observer are analyzed while existing quantization effects, and the result shows that the asymptotic convergence of the estimation error can not be guaranteed. An upper bound of the estimation error is derived using Lyapunov stability criterion. A novel observer is proposed which can drive the tracking error to zero provided that the system matrix is Hurwitz.