控制理论与应用2023，Vol.40Issue(11)：1940-1948,9.DOI:10.7641/CTA.2023.20394
自适应比例-积分H2滑模观测器设计
Adaptive proportional-integral H2 sliding mode observer design
摘要
Abstract
The observation accuracy of traditional Luenberger observer is easily affected by unknown external distur-bance.To solve this problem,an adaptive proportional-integral H2 sliding mode observer is designed in this paper,which achieves robust exact estimation of nonlinear systems with parameter uncertainties and external disturbances.Firstly,the radial basis function neural network is used to approach the complex nonlinear terms of the system model.Secondly,a linear sliding mode surface based on error is designed,and the proportional integral sliding mode term is injected into the observer,so that the sliding mode dynamic converges to the sliding mode surface in finite time,and the nonlinear compen-sation of external disturbance and system model is realized completely.Finally,an observer parameter self-tuning method is proposed based on the H2 suboptimal control and regional pole assignment.The simulation results of a single-link robot verify the proposed method can ensure the robustness and adaptability of the nonlinear system.关键词
滑模观测器/径向基函数网络/自适应控制/区域极点配置/鲁棒性Key words
sliding mode observer/radial basis function networks/adaptive control/regional pole assignment/robust-ness引用本文复制引用
王心怡,许璟,牛玉刚,贾廷纲..自适应比例-积分H2滑模观测器设计[J].控制理论与应用,2023,40(11):1940-1948,9.基金项目
国家自然科学基金项目(62173141,62073139),上海市自然科学基金项目(22ZR1417900)资助.Supported by the National Natural Science Foundation of China(62173141,62073139)and the Natural Science Foundation of Shanghai(22ZR1417900). （62173141,62073139）
