线性不确定系统的鲁棒滑模观测器设计与仿真

在研究线性不确定系统一类滑模观测器的基础上,应用奇异值分解技术对系统进行降阶处理,设计了一种新颖的鲁棒滑模观测器;并提出优化滑模策略,给出严格论证,保证对系统不确定性以及外界干扰具有鲁棒性;采用Lyapunov函数作为稳定观测器的判别条件,使设计的观测器一致收敛,状态估计达到预期的指标;同时给出鲁棒滑模观测器的线性反馈矩阵和非线性反馈矩阵计算算法;通过仿真实例验证所设计的鲁棒滑模观测器的有效性。

Design and Simulation of Robust Sliding Mode Observer for Linear Uncertain System

Based on studying kinds of sliding mode observers for linear uncertain system,a novel(robust) sliding mode observer is designed by applying the singular value decomposition to decompose the dynamical system.Then an optimizing sliding model strategy is presented and the strict verification is(conducted) guarantee robustness to uncertainties of systems and disturbances.The Lyapunov function is used as the judgment condition for stabilizing observers,and the convergence rate between the observer and the system is changed by regulating the sliding-mode strategy so as to attain the desired performances of state estimation. Simultaneously,the linear feedback matrix and nonlinear feedback matrix of the robust sliding mode observer are given,and a selected numerical example is used to illustrate the proposed design.