一种非线性观测器和能量结合的反馈控制系统

A combination feedback system of nonlinear observer and energy-based control

文中利用高增益观测器和状态反馈控制器设计的分离性原理,提出了一种结合非线性观测器和能量的基于估计状态的反馈控制系统.针对垂直欠驱动具有旋转激励的平移振荡器非线性系统,首先,利用高增益观测器,选取合适的增益,使得观测值迅速收敛到系统的状态,其次,从系统能量的角度出发,选取一个恰当的李雅普诺夫函数,证明了所得到的反馈控制系统的渐进稳定性,系统分析及仿真结果表明该方法在动态性方面优于采用高增益观测器和滑模相结合的控制方法,便于工程实现.

According to the separation principle of the high gain observer and state feedback control, we propose a feedback control system based on the estimated states. In a vertical underactuated translational oscillator with nonlinear rotating actuator, we choose a proper gain to make the observed values converge rapidly to the state values, and choose an appropriate Lyapunov function based on the system energy to ensure the asymptotic stability for the feedback system. System analysis and simulation results show that the method proposed is better than the method based on nonlinear observer and sliding model in dynamics, and it is easier to be implemented in engineering.