论文部分内容阅读
针对一类系具有不确定性的非线性系统,给出一种基于多滑模观测器的非线性系统不确定性诊断与重构方法.该方法利用非线性转换将初始系统分为2个子系统,采用多重滑模处理多重输入干扰.在干扰分布矩阵结构假设下,多重滑模观测器的设计确保对未知输入的完全可观性,未知输入通过估计输出误差在多重滑模处重建.同时,估计反馈增益的设计保证了残差估计的渐近稳定性.实验仿真以单节机械手为例,验证了所提方法可实现对不确定信息的有效诊断与重构.
Aiming at a class of nonlinear systems with uncertainties, a method based on multi-sliding mode observer is proposed to diagnose and reconstruct the uncertainties of nonlinear systems. The method uses nonlinear transformation to divide the initial system into two subsystems , And uses multiple sliding modes to deal with multiple input disturbances.Under the assumption of interference distribution matrix structure, the design of multiple sliding mode observers ensures the complete observability of unknown inputs, and the unknown input is reconstructed at multiple sliding modes by estimating the output error.At the same time, The design of feedback gain ensures the asymptotic stability of the residual estimation.Experimental simulation shows that the proposed method can effectively diagnose and reconstruct the uncertain information by using a single manipulator as an example.