论文标题
有干扰的线性系统的扩展动力学观察者
Extended Dynamics Observer for Linear Systems with Disturbance
论文作者
论文摘要
这是四个系列论文的最后一部分，旨在稳定信号输入信号（SISO）线性有限维系统，这些系统被一般输入干扰损坏。提出了一个新的观察者，称为扩展动力学观察者（EDO），以同时估计状态和干扰。江户的工作机制由两个部分组成：已知动力学的干扰被其动力学完全取消，而无知动力学的干扰被高增益吸收。发现只要可观察到的输入障碍的控制植物是可观察到的，这是观察者设计的唯一假设。当干扰动力学完全未知以外，除了一些界限外，江户将减少为众所周知的扩展状态观察者或高增益观察者的扩展。开发方法的主要优点是，可以尽可能多地利用有关控制工厂和干扰的先前信息。我们拥有的先前信息越多，观察者的性能就越好。基于江户的稳定输出反馈也是基于估计/取消策略的精神发展的。确定了由此产生的闭环系统的稳定性，并通过数值模拟验证了一些理论结果。
This is the last part of four series papers, aiming at stabilization for signal-input-signaloutput (SISO) linear finite-dimensional systems corrupted by general input disturbances. A new observer, referred to as Extended Dynamics Observer (EDO), is proposed to estimate both the state and disturbance simultaneously. The working mechanism of EDO consists of two parts: The disturbance with known dynamics is canceled completely by its dynamics and the disturbance with unknown dynamics is absorbed by high-gain. It is found that the high-gain is always working as long as the control plant with unknown input disturbance is observable which is the only assumption for the observer design. When the disturbance dynamics are completely unknown except some boundedness, the EDO is reduced to an extension of the well-known extended state observer or high-gain observer. The main advantage of the developed method is that the prior information about both the control plant and the disturbance can be utilized as much as possible. The more the prior information we have, the better performance the observer would be. An EDO based stabilizing output feedback is also developed in the spirit of estimation/cancellation strategy. The stability of the resulting closed-loop system is established and some of the theoretical results are validated by numerical simulations.
