基于扩张观测器的非线性不确定系统输出跟踪

Output tracking based on extended observer for nonlinear (uncertain) systems

针对一类非线性不确定系统,设计出一种高增益扩张观测器,该观测器具有抗干扰性,可用于观测信号的n阶导数.在此基础上设计了一种控制器,使得跟踪误差及其各阶导数在不确定及扰动存在的情况下仍能迅速收敛.仿真结果表明,这种控制方法对于非线性不确定系统具有良好的控制效果.

A high-gain extended observer is designed for a class of nonlinear uncertain systems. This observer has the ability of attenuating disturbances, and can be used to estimate derivatives of order n of a given signal. The controller based on this extended observer can make the tracking error and its derivates converge to zero rapidly when uncertainties and disturbances exist. The result of simulation indicates that this method has satisfactory controlling effect for nonlinear uncertain systems.