自适应观测器的一种构成及其应用实验

An Adaptive Observer and Its Application

本文给出了一种用加权递推最小二乘法来构成自适应观测器的自适应律的方法,该方法能使参数估计误差按指数曲线收敛,计算量小而具有连续时间系统的参数表现形式.同时又能直接应用于离散数值系统.文中给出了数值仿真以及应用于机械手动态特性分析的结果.

This paper deals with a method for giving the adaptive law in an a-daptive observer by the weighted successive least square method. The adaptive observer is based on a nonminimal continual time system and the a-daptive law is in the form of a discrete value. The structure is simple and the amount of calculation is small and of excellent convergency. The observer consists of only 2n integrators and the adaptive law is made up of difference equations and there is no need for inverse matrix operation. The identifying error of parameters will be decayed according to the ex-ponential curve and the decaying rate can be assigned conveniently and artificially. This is favorable for on-line application. Numerical simulation and the application in a dynamic analysis of a sheet handling robot are described.