非线性关联大系统的鲁棒自适应观测器设计

Design of Robust Adaptive Observer for Nonlinear Large-Scale Systems

针对一类存在未知参数、干扰和未建模动态的非线性关联大系统,提出了一种鲁棒自适应观测器.在观测器中对每个子系统引入一个动态信号来独立抑制未建模动态,同时用自适应非线性阻尼项来克服系统关联.用此观测器不需要估计未知参数及求解线性矩阵不等式.本文从理论上证明了所设计的观测器误差一致有界,并且通过恰当选择有关设计参数可使估计误差任意小.

A robust adaptive observer is proposed for nonlinear large-scale systems with unknown parameters,disturbances and unmodeled dynamics.A dynamic signal is introduced for each subsystem to dominate the unmodeled dynamics independently and an adaptive nonlinear damping is used to counter the effects of the interconnections.With the proposed observer,estimating the unknown parameters and solving linear matrix inequalities are not needed.It is proved theoretically that the observer＇s errors are uniformly bounded and the estimation errors can be made arbitrarily small by choosing some design parameters appropriately.