引用本文:李海芬,谭永红,董瑞丽,李琰琰.含有迟滞Hammerstein系统的非光滑卡尔曼状态估计[J].控制理论与应用,2016,33(6):745~752.[点击复制]
LI Hai-fen,TAN Yong-hong,DONG Rui-li,LI Yan-yan.Non-smooth Kalman filter based state estimation for Hammerstein systems with hysteresis[J].Control Theory and Technology,2016,33(6):745~752.[点击复制]
含有迟滞Hammerstein系统的非光滑卡尔曼状态估计
Non-smooth Kalman filter based state estimation for Hammerstein systems with hysteresis
摘要点击 3174  全文点击 1602  投稿时间：2015-05-09  修订日期：2016-02-05
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DOI编号  10.7641/CTA.2016.50385
  2016,33(6):745-752
中文关键词  非光滑卡尔曼滤波器  迟滞  Hammerstein系统  状态估计
英文关键词  non-smooth Kalman filter  hysteresis  Hammerstein system  state estimation
基金项目  上海市科委项目(14ZR1430300, 14140711200), 国家自然科学基金项目(61571302, 61371145)资助.
作者单位E-mail
李海芬 南开大学  
谭永红* 上海师范大学信息与机电工程学院 tany@shnu.edu.cn 
董瑞丽 上海师范大学信息与机电工程学院  
李琰琰 南开大学  
中文摘要
      迟滞特性具有非光滑、多值映射等复杂特性. 如果迟滞环节的末端还存在一个线性子系统, 导致迟滞的输 出信号不可测, 使得整个系统的状态估计工作成为很大的难题, 常规的估计方法无法直接应用到这类系统中. 本文 提出一种新的非光滑卡尔曼滤波器, 描述了Hammerstein系统的状态空间方程. 据此构造了能够随系统工作区间变 化而自动切换的非光滑滤波器. 最后通过仿真和实验, 比较了非光滑卡尔曼滤波器和传统的卡尔曼滤波器的状态 估计效果, 比较结果表明非光滑卡尔曼滤波器对于带迟滞的Hammerstein系统状态变量的估计的准确性要优于传统 的卡尔曼滤波器.
英文摘要
      As the hysteresis inherent in the piezoceramic actuator is a nonsmooth nonlinear with multivalued mapping, the hysteresis subsystem is preceded in series with a linear subsystem and the output of the hysteresis cannot be measured directly, it is very difficult to use the traditional filter to estimate the states of system. In this paper, a non-smooth Kalman filter is proposed, a non-smooth state space model for the Hammerstein system with hysteresis is constructed, firstly, the filter is switched among different operating zones automatically according to the operating conditions. Finally, simulation and experimental example are presented. The comparison between the proposed non-smooth scheme and the conventional Kalman filter shows that the former has resulted in better estimation performance.