前言
学习一下基础
针对常值干扰的非线性干扰观测
对于动力学系统
{
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if
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is odd
\begin{cases} \dot x=f(x)+g_1(x)u+g_2(x)d, & \text{if $n$ is even} \\ y=b(x), & \text{if $n$ is odd} \\ \end{cases}
{x˙=f(x)+g1(x)u+g2(x)d,y=b(x),if n is evenif n is odd
令干扰估计为
d
^
\hat d
d^,估计误差为
d
~
=
d
−
d
^
\tilde{d}=d-\hat d
d~=d−d^
d ~ ˙ = d ˙ − d ^ ˙ = − d ^ ˙ \dot{\tilde{d}}=\dot d-\dot {\hat d}=-\dot {\hat d} d~˙=d˙−d^˙=−d^˙
为了使 d ~ \tilde{d} d~ 趋于0,我们设计趋近律形式为
d ~ ˙ = − d ^ ˙ = − l ( x ) g 2 ( x ) ( d ~ ) \dot{\tilde{d}}=-\dot {\hat d}=-l(x)g_2(x)(\tilde{d}) d~˙=−d^˙=−l(x)g2(x)(d~)
通过设计 l ( x ) l(x) l(x)使其收敛到0,将趋近律带入系统方程得:
d ^ ˙ = l ( x ) [ x ˙ − f ( x ) − g 1 ( x ) u − g 2 ( x ) d ^ ] \dot{\hat{d}}=l(x)[\dot x-f(x)-g_1(x)u-g_2(x)\hat d] d^˙=l(x)[x˙−f(x)−g1(x)u−g2(x)d^]
为了避免对状态量的测量,对上式进行改进:
两边同时减去
l
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x
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x
˙
l(x)\dot x
l(x)x˙
d ^ ˙ − l ( x ) x ˙ = l ( x ) [ − f ( x ) − g 1 ( x ) u − g 2 ( x ) d ^ ] \dot{\hat{d}}-l(x)\dot x=l(x)[-f(x)-g_1(x)u-g_2(x)\hat d] d^˙−l(x)x˙=l(x)[−f(x)−g1(x)u−g2(x)d^]
令 z = d ^ − p ( x ) , p ( x ) = ∫ l ( x ) x ˙ d t z={\hat{d}}-p(x),p(x)= \int l(x)\dot x dt z=d^−p(x),p(x)=∫l(x)x˙dt ,则有
{
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l
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]
d
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,
\begin{cases} \dot z = −l(x)g_2(x)z − l(x)[g_2(x)p(x) + f (x) + g_1(x)u] & \\ \hat d = z + p(x), & \\ \end{cases}
{z˙=−l(x)g2(x)z−l(x)[g2(x)p(x)+f(x)+g1(x)u]d^=z+p(x),
由此避免了对
x
˙
\dot x
x˙ 的测量
我的问题
(1)非线性干扰观测器的构造假设为干扰为常值,那实际情况中怎么使用呢?在论文中看到也是直接使用这个形式。
奇了怪了呀,论文与博客中证明,虽然构造假设是干扰为常值,但是稳定性条件却是
d
˙
\dot d
d˙有界
参考
Mohammadi A, Marquez H J, Tavakoli M. Nonlinear disturbance observers: Design and applications to Euler Lagrange systems[J]. IEEE Control Systems Magazine, 2017, 37(4): 50-72.
Li S, Yang J, Chen W H, et al. Disturbance observer-based control: methods and applications[M]. CRC press, 2014.