一类非线性不确定组合系统基于观测器的鲁棒分散镇定

Observer Design and Decentralized Stabilization of Nonlinear Uncertain Interconnected Systems with Similarity

讨论一类组合系统的鲁棒观测器的设计及该类系统基于估计状态反馈分散镇定问题。所设计的变结构观测器使得观测误差渐近趋于零 ,基于估计状态所设计的鲁棒分散控制器确保闭环系统是渐近稳定的 ,系统的相似结构使得所设计的各个子系统的分散观测器以及控制器在结构上具有一致性 ,从而简化了系统的设计。

The problem of robust observation synthesis and decentralized stabilization for large scale systems subjected to nonlinear interactions and bounded uncertainties is considered. Firstly, the scheme of the variable structure observer is proposed and the observation error is guaranteed to converge asymptotically to zero. Then, based upon the certain functional properties of the uncertainty bound and by using the estimated states feedback, the decentralized control law is obtained which guarantees that the closed loop systems to be asymptotically stable. Finally, a practical example shows the effectiveness of the conclusion proposed.