| 引用本文: | 张世华,齐晓慧,万慧.广义非线性扩张状态观测器设计及性能分析[J].控制理论与应用,2021,38(12):2059~2068.[点击复制] |
| ZHANG Shi-hua,QI Xiao-hui,WAN Hui.Design and performance analysis of generalized nonlinear extended state observer[J].Control Theory and Technology,2021,38(12):2059~2068.[点击复制] |
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| 广义非线性扩张状态观测器设计及性能分析 |
| Design and performance analysis of generalized nonlinear extended state observer |
| 摘要点击 1398 全文点击 415 投稿时间：2020-07-14 修订日期：2021-09-07 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2021.00455 |
| 2021,38(12):2059-2068 |
| 中文关键词 广义非线性扩张状态观测器 收敛性 干扰抑制 观测精度 |
| 英文关键词 generalized nonlinear extended state observer convergence interference suppression observation accuracy |
| 基金项目 陆军武器装备军内科学研究项目(LJ20202C080518), 陆军工程大学基础学科科研基金项目资助. |
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| 中文摘要 |
| 针对时变外扰, 提出广义非线性扩张状态观测器设计方法. 在分析传统扩张状态观测器的设计策略的基础
上, 通过对总扰动进行重构、引入广义扩张状态, 设计反映扰动中已知分量的广义扩张状态观测器(扩张r +1阶). 理
论分析了观测器的收敛性, 并得出了观测误差上界与扩张阶数的定量关系式. 通过仿真对广义扩张状态观测器抑制
外界正弦扰动的有效性进行检验, 数值模拟结果表明, 本文设计的观测器能够有效利用扰动中已知分量的信息, 降
低系统的不确定性, 提高观测精度. |
| 英文摘要 |
| A generalized nonlinear extended state observer design method is proposed for time-varying disturbances.
Based on the analysis of the system reconstruction strategy of the traditional extended state observer, the generalized extended
state observer reflecting the known components of the disturbance is designed by reconstructing the total disturbance
and introducing the generalized extended state. The convergence of the observer is analyzed and the quantitative relation
between the upper bound of the observation error and the expansion order is obtained. The effectiveness of the generalized
extended state observer to suppress the external sinusoidal disturbance is verified by numerical simulation which further
shows that the observer can utilize the known components of the disturbance, reduce the uncertainty of the system and
improve the observation accuracy. |