基于奇异值分解的鲁棒滑模观测器设计与仿真

Design and Study of Robust Sliding-mode Observers for Dynamical System with Unknown Inputs Distribute

在Edwards滑模观测器设计思想的基础上,提出具有未知输入干扰的鲁棒滑模观测器设计方法,采用奇异值分解技术,设计鲁棒滑模观测器以及优化滑模策略,给出严格论证,保证对系统不确定性以及外界干扰具有鲁棒性;采用Lyapunov函数作为稳定观测器的判别条件,使设计的观测器一致收敛,状态估计达到预期的指标;通过VTOL直升飞机的动态数学模型仿真示例验证了研究方法的有效性,并与一般的Luenberger观测器进行比较,证明设计的滑模观测器具有很好的跟踪性,以及对未知输入扰动良好的鲁棒性。

Based on Edwards＇ sliding-mode observer principle, the designing method of robust sliding mode observers with unknown disturbance was proposed The robust sliding mode observers and the optimal sliding strategies were designed by using the singular value decomposition technique, and severe revetments were given to robustness to the uncertainties and external disturbances. The Lyapunov function is used as the critical condition of the stable observers which ensures the consistent convergence of the designed observers and the anticipative results of states estimation, The simulation results of the VTOL helicopter model illustrate the effectiveness of the proposed algorithms, and the characteristics of good track and the robustness to the unknown input disturbances in the designed sliding observers are proved by comparing with the ones of Luenberger observers.