具有未知输入非线性系统的自适应观测器设计

Adaptive Observer Design with Unknown Inputs for Nonlinear Systems

摘要:

针对具有未知输入和传感器噪声的的非线性系统，讨论了基于TS(TakagiSugeno)模型的未知输入观测器设计方法.首先，给出了基于非线性系统构造TS模型系数矩阵的计算方法.然后，以TS模型作为设计模型，通过扩展传感器噪声为辅助状态向量的方式，将系统扩展为增维系统.继而，针对TS模型，设计模糊自适应观测器以达到对非线性系统状态，未知输入和传感器噪声同时估计之目的.为此，基于线性矩阵不等式，给出了观测器存在的充分性条件.最后，通过实例仿真验证了此方法的有效性.

Abstract:

For the nonlinear systems with unknown inputs and measurable noises, the design method of unknown input observer based on the TS model is discussed. At first, the calculation method of the coefficient matrix of the TS model constructed based on nonlinear system is presented. Then, the TS model is used as the design model, and the system is extended to an augmented system by extending the measurable noise as an auxiliary state. And then, for the TS model, a fuzzy adaptive observer is designed to achieve the objective of the simultaneous estimations of the states, the unknown inputs and the measurable noises of the nonlinear system. Meanwhile, the sufficient condition of the existence of the observer is given based on a linear matrix inequality. Finally, simulation examples demonstrate the effectiveness of this method.